Movable sand blasting equipment for inner wall of pipeline

Abstract

The invention relates to the technical field of pipeline cleaning, in particular to movable sand blasting equipment for the inner wall of a pipeline. The movable type pipeline inner wall sand blasting equipment can comprise a walking structure which is installed on a machine shell and used for supporting the radius of the inner wall of a to-be-operated pipeline and quantitatively outputting drive to move forwards. The camera is installed at the front end of the machine shell and used for shooting the situation of the inner wall of the pipeline in the advancing direction of the machine shell and obtaining a shot picture. And the sand blasting and recycling structure is mounted on the machine shell and is used for carrying out fixed-point sand blasting on the inner wall of the pipeline and recycling sand grains and dust. And the controller is electrically connected with the walking structure, the camera and the sand blasting recovery structure. By means of the method, automatic identification and positioning of corrosion characteristics, self-adaption to the inner wall of the pipeline and walking can be completed, automatic locking sand blasting of a sand blasting recycling structure and automatic processing of an S-line path line in a corrosion area are achieved, complexity and inconvenience of manual processing are avoided, the working environment is improved, and the workload is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline cleaning, and particularly relates to a mobile pipeline inner wall sandblasting device. Background Art

[0002] During pipeline transportation or underwater power station drainage, large-diameter water diversion penstocks (connecting the water diversion pipeline to the volute) are long-term under the action of high water flow velocity and sediment-laden conditions, and corrosion failures frequently occur especially in areas such as welds and boundary transitions. The currently used ultra-strong wear-resistant epoxy topcoat system includes: epoxy zinc-rich primer, epoxy mica iron intermediate coat, and thick-film solvent-free paint. This ultra-strong wear-resistant epoxy topcoat system has problems such as coating blistering, peeling, and hollowing during long-term operation, seriously affecting the operation safety and economic benefits of hydropower equipment. In addition, due to the combined action of factors such as basin hydrology, seasonal temperature difference, and power station structure differences, the corrosion behavior shows high complexity and the corrosion control is difficult.

[0003] Pipeline derusting and painting construction still rely on manual labor, and there are the following pain points: the dust pollution in the closed space is serious, and the sandblasting derusting process is extremely harmful to health and the environment; the accuracy of manual painting is unstable, the repeated construction rate is high, and the efficiency is extremely low in the ultra-long pipe section; the overhaul and maintenance highly rely on experience; the environmental protection and durability of the protective material system are insufficient and cannot cope with the long-term complex working conditions of the basin. Summary of the Invention

[0004] To solve the above technical problems, the present invention provides a mobile pipeline inner wall sandblasting device for sandblasting and dust removal of the pipeline inner wall, especially suitable for pipelines with a relatively large length. The mobile pipeline inner wall sandblasting device includes: A machine shell; A traveling structure, installed on the machine shell, which is used to support the inner wall radius of the pipeline to be operated and quantitatively output drive to move forward; A camera, installed at the front end of the machine shell, which is used to photograph the inner wall condition of the pipeline in the forward direction of the machine shell and obtain a photographed image; A sandblasting and recycling structure, installed on the machine shell, which is used to perform sandblasting on a fixed point of the pipeline inner wall and recycle sand grains and dust; A controller, which is electrically connected to the traveling structure, the camera, and the sandblasting and recycling structure. The controller is used to control the traveling structure to support and quantitatively move forward on the pipeline inner wall; the camera photographs the pipeline inner wall to obtain a photographed image; construct a coordinate atlas, process the coordinate atlas to extract corrosion features; calculate the range of corrosion features to be processed, and calculate the processing path according to the range of corrosion features to be processed; the controller controls the traveling structure to intermittently move, and the sandblasting and recycling structure performs sandblasting treatment on the corrosion feature range according to the processing path and recycles sand grains and dust.

[0005] Preferably: The machine shell is fixedly connected by an internal steel frame structure and an external housing.

[0006] Preferably, the walking structure includes a lead screw, a rotational transmission unit, a walking drive assembly, and a walking rod structure. The lead screw is rotatably arranged inside the machine housing; the walking drive assembly is in transmission connection with the lead screw and is used to drive the lead screw to rotate; the rotational transmission unit is installed on the machine housing and is in transmission connection with the lead screw. It is used to perform transmission according to the rotation of the lead screw and complete the conversion of sliding and rotational transmission postures according to the reaction force of the inner wall of the pipeline; the walking rod structure is installed on the machine housing and is in transmission connection with the rotational transmission unit. It is used to support the inner wall of the pipeline through sliding drive and drive forward according to rotational transmission.

[0007] Preferably, the walking drive assembly includes a motor, a worm gear, and a worm structure. The motor is installed inside the machine housing, and a worm is coaxially and fixedly connected to the output shaft of the motor. A worm gear is coaxially and fixedly connected to the lead screw. The worm gear and the worm are engaged. When the motor rotates, it drives the lead screw to rotate through the transmission of the worm gear and the worm.

[0008] Preferably, the rotational transmission unit includes a driven gear, a driving gear disc, and a sliding disc. The driving gear disc is a disc structure, and its edge portion is provided with tooth patterns. The center of the driving gear disc is fitted and sleeved on the lead screw. As the lead screw rotates, it drives the driving gear disc to slide or rotate relatively inside the machine housing; the sliding disc is slidably placed inside the machine housing, and the sliding direction of the sliding disc is the same as the transmission direction of the lead screw; a plurality of rotating shafts are rotatably passed through the sliding disc; one end of the rotating shaft is coaxially and fixedly connected with a driven gear, and the driven gear is engaged with the tooth patterns on the driving gear disc.

[0009] Preferably, the driving gear disc is arranged in a barrel shape, and the tooth patterns are arranged on the inner wall of its edge. The driven gear is engaged and located inside the driving gear disc, so as to increase the stability of the rotation of the driven gear.

[0010] Preferably, a guiding optical axis is fixedly installed inside the machine housing, and the sliding disc is slidably sleeved on the guiding optical axis, so as to increase the stability of the sliding of the sliding disc and make the sliding of the sliding disc smooth and unobstructed. The radius of the sliding disc needs to be greater than the radius of the driving gear disc, and the connection part of the guiding optical axis is located outside the driving gear disc, so as to avoid the interference of the rotation of the driving gear disc. A linear bearing can also be arranged at the corresponding position of the sliding disc, and the linear bearing slidably passes through the guiding optical axis, so as to reduce the sliding friction force of the sliding disc.

[0011] Preferably, the walking rod structure includes: a driving wheel, a support leg, a transmission shaft, and a steering transmission member. The support leg is rotatably connected to the housing; a driving wheel is rotatably connected to one end of the support leg, a transmission shaft is rotatably buried inside the support leg, one end of the transmission shaft is connected to the rotating shaft through the steering transmission member, and the other end of the transmission shaft is in transmission connection with the driving wheel through a steering gear; the end of the support leg connected to the driving wheel rotates inward to receive the support leg and the driving wheel inside the housing, thereby reducing the volume of the device and facilitating handling. The end of the support leg connected to the driving wheel rotates outward, the driving wheel opens outward and contacts the inner wall of the pipeline, thereby completing the support.

[0012] Preferably, the steering transmission member is a universal joint transmission member, which includes two concave rod-shaped structures, and the two rod-shaped structures are rotatably connected by a cross-shaped rotating rod.

[0013] Preferably, an elastic buffer rod is arranged between the transmission shaft and the steering transmission member. The elastic buffer rod adjusts the length of the transmission shaft as needed to adjust the distance difference of the transmission shaft rotating with the support leg.

[0014] Preferably, one end of the lead screw extends out of the housing, and a columnar mounting seat is coaxially fixedly connected to the end of the lead screw. The camera is mounted on the columnar mounting seat, and the orientation of the camera forms an angle with the axis of the columnar mounting seat. When the device is walking, the lead screw rotates to drive the device to move forward, the lead screw rotates to drive the camera to rotate, and the camera spirally shoots the inner wall of the pipeline during the rotation process, thereby obtaining a photographed image of the inner wall of the pipeline.

[0015] Preferably, the sandblasting and recycling structure includes: a protective cover, a telescopic pipeline, a telescopic driving structure, a rotating driving structure, a negative pressure dust suction component, and a high-pressure sandblasting component; the telescopic pipeline is installed on the housing, one end of which is connected with a protective cover, the telescopic driving structure is connected with the telescopic pipeline, and the telescopic driving structure is used to drive the telescopic pipeline to telescopically extend and retract quantitatively; the rotating driving structure is connected with the telescopic pipeline and is used to drive the telescopic pipeline to rotate; the telescopic pipeline internally includes a first pipeline and a second pipeline; one end of the first pipeline is communicated with a sandblasting port, and the other end is communicated with the high-pressure sandblasting component, and the second pipeline is communicated with a recovery port and the negative pressure dust suction component, and the sandblasting port and the recovery port are inside the protective cover. During operation, the high-pressure sandblasting component sprays sand grains such as steel sand, glass beads or ceramic particles. The protective cover is covered on the area to be treated, the high-pressure sandblasting component is started, and the high-speed sprayed sand grains are sprayed out from the sandblasting port and splashed on the inner wall of the pipeline, thereby completing the cleaning. Under the action of the negative pressure dust suction component, the sprayed sand grains and the removed dust enter the negative pressure dust suction component through the recovery port for collection, avoiding the accumulation of sand grains and dust inside the pipeline and causing pollution.

[0016] Preferably, the high-pressure sandblasting assembly includes a sandblasting pump and a sand box. The sand box is a rectangular box structure, and the inside of the sand box is used to hold sand grains. The sandblasting pump is connected in a communicating manner, and the sandblasting pump is communicated with the sandblasting port.

[0017] Preferably, the negative-pressure dust collection assembly includes an air pump and a recovery box. The recovery box is communicated with the air pump and the recovery port. Under the action of the air pump, a negative pressure is formed inside the recovery port, and the steel sand and dust ejected from the sandblasting port are affected by the negative pressure and enter the recovery box for collection, thus avoiding pollution.

[0018] Preferably, the negative-pressure dust collection assembly and the high-pressure sandblasting assembly are communicated. The negative-pressure dust collection assembly is used to separate the recovered dust and sand grains, and the recovered sand grains are led into the high-pressure sandblasting assembly for recycling. A filter screen is arranged inside the recovery box, and the filter screen separates the sand grains and the dust. The filter screen is inclined, the recovery box is located above the sand box, the recovery box is communicated with the sand box, and the sand grains filtered in the recovery box enter the inside of the sand box for recycling. Through this setting, the carrying amount of sand grains of the equipment can be reduced, and at the same time, the single-treatment capacity of the equipment can be increased.

[0019] Preferably, the sandblasting port is located at the middle position of the protective cover, and the recovery ports are distributed around the sandblasting port. After the sand grains and the processed dust ejected from the sandblasting port are impacted, they will rebound, so that they can quickly enter the inside of the recovery port, avoiding incomplete recovery of dust and sand grains.

[0020] Preferably, the telescopic pipe is in an L-shaped structure, which includes a first bending part and a second bending part. The first bending part and the second bending part are connected in a communicating manner. The first bending part is rotatably connected to the end of the machine shell, and the second bending part is a telescopic straight pipe structure. Specifically, a hard pipe is sleeved outside the internal hose. There are at least two hard pipes, and their mutually remote ends are fixedly connected to the hose, and their mutually close ends are slidably sleeved with each other, so as to realize telescopic adjustment.

[0021] Preferably, the coordinate map construction method includes a plane coordinate system and a captured picture. The abscissa of the plane coordinate system is the axial length x of the pipeline, then the axial length x = S + l, where S is the traveling distance of the equipment, and here we calibrate the traveling distance with the position of the camera; l is the distance from the coordinate point to the midline in the captured image; the ordinate is the rotation angle Φ of the camera. The captured picture is cropped and spliced, and the captured picture is implanted into the plane coordinate system according to the shooting line diameter x of the pipeline, so as to obtain the coordinate map. The coordinate map constructed here is convenient for subsequent processing and more intuitive to observe. The camera shooting is synchronized and synthesized, the processing is simple and not easy to make mistakes.

[0022] Preferably, the rotation angle Φ = 2π(S % S0) / S0, where S is the traveling distance of the equipment, S0 is the traveling distance of the equipment when the camera rotates one circle, and % is the remainder symbol.

[0023] Preferably, the travel distance S of the device is S = ns, where n is the number of rotations of the driving gear disk, and s is the path traveled when the driving gear disk rotates one circle.

[0024] Preferably, the method for obtaining the range of corrosion features to be processed includes: comparing the coordinate map with a pre-prepared corrosion feature image map to determine whether the coordinate map has the corrosion features to be processed marked in the corrosion feature image map. If not, no extraction is performed. If so, the gray value g of the coordinate map at the current rotation angle is obtained, the gray value difference Δg between the current coordinate point and the surrounding coordinate points is calculated, and it is determined whether the gray value difference Δg is greater than a standard gray value difference Δg T , if not, no marking is performed. If so, the coordinate point is marked as a boundary point, and the boundary points are linearly connected to form a closed area, and the closed area forms the range of corrosion features to be processed.

[0025] Preferably, the method for obtaining the processing path includes: taking the leading edge point H of the range of corrosion features to be processed as the starting point, making the first path line W1 at intervals of L / 2 respectively, and then making parallel lines of the first path line at intervals of r to obtain multiple subsequent path lines W i , where i is the number of the path line, until the parallel line does not intersect with the range of corrosion features to be processed, and the total number of path lines is I. At this time, i = 2, 3,... I. Then the intersection points of the path line and the boundary of the range of corrosion features to be processed are obtained, and then connected end to end to form a serpentine curve, and the serpentine curve is used as the processing path. Then, the controller controls the travel distance of the device to be S = x + L + (i - 0.5)r and intermittently stops driving forward. i is the path line number, and at this time, i = 1, 2,... I. Where L is the distance between the sandblasting center of the sandblasting recovery structure and the center line of the camera shooting, and r is the sandblasting treatment diameter of the sandblasting port.

[0026] Preferably, the sliding disk and the driving gear disk are connected by an elastic connection structure and are pressure-limited and locked by an elastic unlocking structure; the elastic unlocking structure is used to limit the relative rotation of the sliding disk and the driving gear disk when the sliding disk does not reach the preset resistance. When the resistance received by the sliding disk exceeds the preset resistance, the elastic unlocking structure is unlocked, so that the driving gear disk rotates with the lead screw. By setting the elastic unlocking structure, the sequential linkage of the rotation of the support leg and the rotation of the transmission shaft can be ensured, the smooth progress of support and driving forward can be ensured, and the instability caused by frictional limitation can be avoided.

[0027] Preferably, the elastic unlocking structure includes a limiting piece and a limiting groove. A plurality of limiting pieces are circumferentially fixed on the outer edge of the sliding disk and face the driving gear disk. A protrusion is provided at the end of the limiting piece facing the driving gear disk, and a limiting groove is opened at the corresponding position on the outer side of the driving gear disk. The limiting grooves and the limiting pieces correspond one by one. When the driving gear disk pushes the sliding disk to move, the protrusion at the end of the limiting piece enters the inside of the limiting groove. At this time, due to the limitation of the limiting groove and the limiting piece, the driving gear disk cannot rotate. When the driving wheel contacts the inner wall of the pipeline and cannot move outward continuously, the sliding disk cannot move, and the resistance to its movement rapidly increases. The driving gear disk and the sliding disk move relative to each other, and the limiting piece slides out of the limiting groove. At this time, the driving gear disk rotates with the lead screw.

[0028] Preferably, the elastic connection structure includes a buffer spring, a ejector rod and a ball. The ejector rod is telescopically arranged at the end of the rotating shaft. A buffer spring is arranged between the ejector rod and the rotating shaft to ensure its elastic recovery and resistance. A ball is rotatably arranged at the end of the ejector rod extending out of the rotating shaft, and the ball contacts the driving gear disk. When the driving gear disk pushes the sliding disk, the buffer spring is compressed. When the driving wheel contacts the inner wall of the pipeline, the buffer spring is quickly compressed, the driving gear disk approaches the sliding disk, and the limiting piece slides out of the limiting groove. When the lead screw rotates in the reverse direction, the distance between the driving gear disk and the sliding disk increases, and the limiting piece enters the inside of the limiting groove. A circular groove is opened on the driving gear disk, and the circular groove is coaxially arranged with the driving gear disk. The ball rolls inside the circular groove. The arrangement of the ball can reduce the friction between the driving gear disk and the rotating shaft. By supporting through the driving gear disk, the smooth rotation of the driven gear can be increased. Through the reaction force of the ball and circumferentially distributed on one side of the sliding direction of the driving gear disk, the driving gear disk rotates more smoothly. The lead screw drives the driving gear disk to rotate, and the spiral groove will give the driving gear disk an inclined force. Through the reverse support of the ball, the two forces can cancel each other out, making the driving gear disk rotate more smoothly.

[0029] The technical effects and advantages of the present invention: Through this method, the automatic recognition and positioning of corrosion characteristics can be completed, the automatic locking of the sandblasting of the sandblasting recovery structure can be realized, and automatic processing can be carried out with the S line as the path line, avoiding the cumbersome and inconvenience of manual processing, improving the working environment and reducing the workload. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a three-dimensional structural schematic diagram of a mobile pipeline inner wall sandblasting device proposed by the present invention.

[0031] Figure 2 is a front view structural schematic diagram of a mobile pipeline inner wall sandblasting device proposed by the present invention.

[0032] Figure 3 is Figure 2 a partial cross-sectional structural schematic diagram of the A-A section in

[0033] Figure 4 Schematic diagram of the internal structure of a mobile pipe inner wall sandblasting device proposed by the present invention.

[0034] Figure 5 Combined three-dimensional structure diagram of the driving gear disc and the driven gear in Embodiment 1 of the present invention.

[0035] Figure 6 Combined three-dimensional structure diagram of the driving gear disc and the driven gear in Embodiment 2 of the present invention.

[0036] Figure 7 Combined top view structure diagram of the driving gear disc and the driven gear in Embodiment 2 of the present invention.

[0037] Figure 8 is Figure 7 Partial sectional view structure diagram of section B-B in

[0038] Figure 9 is Figure 8 Partial enlarged structure diagram of part C in

[0039] Explanation of reference numerals: housing 1, camera 2, traveling structure 3, sandblasting recovery structure 4, protective cover 5, sandblasting port 6, recovery port 7, telescopic drive structure 8, rotational drive structure 9, air pump 10, sandblasting pump 11, sand box 12, support leg 13, drive wheel 14, transmission shaft 15, steering transmission member 16, sliding disc 17, drive gear disc 18, driven gear 19, lead screw 20, traveling drive assembly 21, guiding optical axis 22, elastic buffer rod 23, steering gear 24, rotating shaft 25, limiting groove 26, limiting piece 27, buffer spring 28, ejector rod 29, ball 30, circular groove 31. Detailed description of the specific implementation

[0040] The following details the embodiments of the present invention. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention. On the contrary, the embodiments of the present invention include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0041] Embodiment 1, referring to Figures 1-3 , in this embodiment, a mobile pipe inner wall sandblasting device is proposed for sandblasting and dust removal of the inner wall of the pipe, especially suitable for pipes with a relatively large length. The mobile pipe inner wall sandblasting device may include: The casing 1 forms an installation base and a protective shell. The casing 1 can be composed of an internal steel frame structure and an external shell fixedly connected. The steel frame structure can be made of square tubes of stainless steel, aluminum alloy, etc., which are fixedly connected to form a framework structure for support and installation, and the various components inside the casing 1 can be installed thereon. The shell can be a steel plate or other thin plate structure, and is fixedly connected to the steel frame structure, thereby increasing the aesthetics and sealing performance, and can prevent external environmental pollution from damaging its internal equipment. The details are not repeated here. The casing 1 can be a rectangular or cylindrical structure. The specific size can be designed according to the actual detection pipeline radius range, and the details are not repeated here.

[0042] The walking structure 3 is installed on the casing 1, and is used to support the inner wall radius of the pipe to be operated, and quantitatively output and drive forward. The walking structure 3 may include a screw 20, a rotation transmission unit, a walking drive assembly 21 and a walking rod structure. The screw 20 is rotatably arranged inside the casing 1, and the screw 20 can be located at the center of the casing 1 and can rotate inside the casing 1. Specifically, the end and the middle of the screw 20 can be rotatably connected to the inside of the casing 1 through bearings, and the details are not repeated here. The screw 20 can be a screw groove screw or a threaded screw, wherein the screw groove screw is preferably used. The screw groove screw can be matched with a ball, which can greatly reduce the friction of the rotation drive and make the drive smoother. The screw 20 can be divided into two parts, front and back, and the screw grooves of the screw groove screw can be arranged relatively, so that it can be driven relatively. The walking drive assembly 21 is connected to the screw 20 in a transmission manner, and is used to drive the screw 20 to rotate. The walking drive assembly 21 can be a motor, a worm gear and a worm structure, and the motor can be a three-phase motor, which can control its forward and reverse rotation. The output shaft of the motor is coaxially fixedly connected with a worm, and the screw 20 is coaxially fixedly connected with a worm wheel. The worm wheel and the worm are meshed, and the motor rotates, and the transmission is transmitted through the worm wheel and the worm, thereby driving the screw 20 to rotate. Of course, the travel drive component 21 can also be a combination of a motor and a gear or a combination of a motor and a pulley. The travel drive component 21 can be in the middle position of the screw 20 to make it evenly stressed. Of course, other positions are not excluded, and the details are not repeated here. The rotation transmission unit is installed on the casing 1 and is connected to the screw 20 for transmission. It is used to transmit according to the rotation of the screw 20 and complete the sliding and rotation transmission posture conversion according to the reaction force of the inner wall of the pipeline. The number of the rotation transmission units can be multiple, so as to ensure the stability of walking. Generally, the number of rotation transmission units can be set to two, and they can be arranged relative to each other front and back, so as to provide front and back support, stable support, and enable the casing 1 to be located at the center line of the pipeline. Reference Figures 3-5, the rotation transmission unit may include a driven gear 19, a driving toothed disc 18 and a sliding disc 17. The driving toothed disc 18 may be a disc structure, and a tooth pattern is provided on its edge. The center of the driving toothed disc 18 is fitted and sleeved on the screw rod 20. As the screw rod 20 rotates, the driving toothed disc 18 can be driven to slide or rotate relatively inside the housing 1. The sliding disc 17 is slidably placed inside the housing 1. The sliding direction of the sliding disc 17 is consistent with the transmission direction of the screw rod 20. The sliding disc 17 can be rotatably and slidably sleeved inside the screw rod 20, that is, a through hole can be provided at the center of the sliding disc 17. The diameter of the through hole is larger than the diameter of the screw rod 20. The screw rod 20 can pass through the through hole without contact, so that the rotation of the screw rod 20 will not directly affect the movement of the sliding disc 17. The sliding disc 17 may be a rectangular or disc-shaped structure, and the rectangular structure can be limited by the shape structure of the sliding cavity. Of course, a guide light shaft 22 can be fixedly installed inside the housing 1, and the sliding disk 17 is slidably sleeved on the guide light shaft 22, thereby increasing the stability of the sliding of the sliding disk 17, so that the sliding of the sliding disk 17 is stable and smooth. The number of guide light shafts 22 can be designed according to actual conditions, generally 2-7, of which 3 or 4 are suitable, and can be evenly distributed on the outer edge of the sliding disk 17. The radius of the sliding disk 17 needs to be larger than the radius of the driving toothed disk 18, and the connection of the guide light shaft 22 is located at the periphery of the driving toothed disk 18, thereby avoiding the rotation interference of the driving toothed disk 18. A linear bearing can also be set at the corresponding position of the sliding disk 17, and the linear bearing slides through the guide light shaft 22, so that the sliding friction of the sliding disk 17 is reduced. The sliding disk 17 can rotate through multiple rotating shafts 25, and generally the rotating shafts 25 can be evenly arranged, of course, the existence of some differences is not excluded. In general, the number of the rotating shafts 25 can be 3 or 4, which is set according to the actual situation. One end of the rotating shaft 25 is coaxially fixedly connected with a driven gear 19, and the driven gear 19 meshes with the teeth on the driving toothed disc 18. Specifically, the driving toothed disc 18 can be set as a barrel-shaped structure, and the teeth are set on the inner wall of its edge, so that the driven gear 19 can be meshed and located on the inner side of the driving toothed disc 18, thereby increasing the stability of the rotation of the driven gear 19. The end of the rotating shaft 25 can contact the driven gear 19, and when the driving toothed disc 18 slides, it can push the sliding disc 17 and the driven gear 19 to move. The contact position needs to meet the rotation and sliding requirements, and the specific details are not repeated here. The other end of the rotating shaft 25 is connected to the walking rod structure in transmission. The walking rod structure is installed on the casing 1 and is connected to the rotating transmission unit in transmission. It is used to complete the support of the inner wall of the pipeline through sliding drive and drive forward according to the rotating transmission.The walking rod structure may include a driving wheel 14, a support leg 13, a transmission shaft 15 and a steering transmission member 16. The support leg 13 is rotatably connected to the machine housing 1, and the opening degree of the support leg 13 can be adjusted by different rotation angles to support on the inner wall of the pipeline, suitable for various types of pipelines. One end of the support leg 13 may be rotatably connected with a driving wheel 14, and the transmission shaft 15 is rotatably buried inside the support leg 13. One end of the transmission shaft 15 is connected to the rotating shaft 25 through the steering transmission member 16, and the other end of the transmission shaft 15 is in transmission connection with the driving wheel 14 through the steering gear 24. The end of the support leg 13 connected to the driving wheel 14 rotates inward, and the support leg 13 and the driving wheel 14 can be received into the interior of the machine housing 1, so that the volume of the device can be reduced and it is convenient to carry. The end of the support leg 13 connected to the driving wheel 14 rotates outward, and the driving wheel 14 expands outward and contacts the inner wall of the pipeline to complete the support. The transmission shaft 15 may be a straight rod structure, and of course, the angular transmission method is not excluded. The steering transmission member 16 may be a universal joint transmission member, which includes two concave-shaped rod structures, and the two rod structures are rotatably connected through a cross-shaped rotating rod to achieve angular transmission. Its specific structure is the prior art and will not be elaborated here. The rotation connection point of the support leg 13 needs to be far away from the driving wheel 14, so that the support leg 13 can be rotated with a small distance, which can increase the rotation path of the driving wheel 14 and improve the control ability. Since the steering transmission member 16 is a horizontal push and the support leg 13 is rotatably arranged, there is a certain distance difference in the rotation of the support leg 13. An elastic buffer rod 23 may be provided between the transmission shaft 15 and the steering transmission member 16. The elastic buffer rod 23 can adjust the length of the transmission shaft 15 as needed to adjust the distance difference of the transmission shaft 15 rotating with the support leg 13. The elastic buffer rod 23 may be a rod structure with inner and outer sliding nests, and a spring may also be provided inside, which will not be elaborated here. The walking drive assembly 21 drives the lead screw 20 to rotate. At this time, the rotational resistance received by the driven gear 19 is greater than the sliding resistance of the driving gear disc 18 and the sliding disc 17. The resistance here may be frictional force, and of course, other resistances are not excluded. The rotational resistance of the driving gear disc 18 is greater than its sliding resistance, so that the driving gear disc 18 slides inside the machine housing 1. The driving gear disc 18 pushes the sliding disc 17 to move along, thereby pushing the end of the support leg 13 and the transmission shaft 15 to move laterally. The support leg 13 rotates on the machine housing 1, so that its end with the driving wheel 14 rotates outward.When the driving wheel 14 contacts the inner wall of the pipeline, the supporting leg 13 cannot rotate, and the transmission shaft 15 gives a reaction force to the sliding disc 17 to prevent it from sliding. The sliding disc 17 supports the driving gear disc 18 and cannot continue to slide. At this time, the lead screw 20 continues to rotate, and the rotational force of the driving gear disc 18 is greater than its resistance, thereby driving the driving gear disc 18 to rotate. The driving gear disc 18 drives the driven gear 19 to rotate, and is transmitted through the steering transmission member 16, so that the transmission shaft 15 rotates inside the supporting leg 13, and is transmitted through the steering gear 24, so that the driving wheel 14 can rotate at the end of the supporting leg 13, enabling the device to move inside the pipeline. The driving wheels 14 of the two walking rod structures rotate in the same direction, and specifically can be adjusted by the different meshing directions of the driving wheels 14, which will not be elaborated here. When the operation is completed and the device travels through the entire pipeline and reaches the end of the pipeline, the walking drive assembly 21 drives the lead screw 20 to rotate in the reverse direction. The lead screw 20 rotates in the reverse direction, and the reverse movement of the driving gear disc 18 can pull the sliding disc 17 to move in the reverse direction, or the supporting leg 13 can be rotated in the reverse direction back into the machine housing 1 by the downward pressure of the device gravity. This setting is suitable for one-way operation, and the rotation of the supporting leg 13 is completed by using the rotational force of the lead screw 20, which is applicable to the inner diameters of various pipelines. The rotation of the driving wheel 14 drives its movement, realizing the self-adaptive adjustment of the pipeline and the walking drive with one driving force, simplifying the device structure, reducing the manufacturing cost of the device and saving energy. Through the organic linkage conversion of adjustment and drive, it can be self-adaptive to various pipeline models, avoiding errors in pipeline model adjustment. Through the organic conversion of the sliding and rotation of the driving gear disc 18, the supporting force and friction force for the walking of the driving wheel 14 can be satisfied, avoiding walking obstacles caused by insufficient friction force. Through the integrated adjustment of multiple supporting legs 13, the center line of the machine housing 1 can be made to be in the same position as the center line of the pipeline, facilitating sandblasting positioning. Through the setting of the elastic buffer rod 23, the self-adaptive adjustment of the rotation angle of the supporting leg 13 can be satisfied, facilitating the walking with the pipeline angle set, and improving the applicability. If it is necessary for the device to return to the operation origin, four walking rod structures and rotation transmission units can be set, and they are arranged in pairs and relatively. The two groups of walking rod structures and rotation transmission units are opposite in position to the driving gear disc 18, and the driving directions of the two groups are different. The reverse rotation of the lead screw 20 can complete the retraction of one group of walking rod structures, the opening of the other group, and the reverse drive. The specific structure is the same and will not be elaborated here. Of course, the walking rod structure and the rotation transmission unit can also include other structural settings. For example, the driven gear 19 can be meshed outside the driving gear disc 18, and the steering transmission member 16 can be a hemispherical gear or a toothed ring with a curvature, etc., which can ensure meshing transmission at all times when there is a rotation angle, which will not be elaborated here.

[0043] The camera 2 can be installed on the housing 1 and is used to photograph the inner wall of the pipeline in the advancing direction of the housing 1 and obtain a photographed picture. The camera 2 can be located at the advancing end of the housing 1 to photograph the inner wall environment of the pipeline where the front end of the device is located, so as to obtain a photographed picture of the inner wall of the pipeline. The camera 2 can be a high-definition camera, a high-frequency camera or a line-scan camera, and a line-scan camera is preferred here. Since the inner wall environment of the pipeline we need to know is the situation in all directions of the inner wall of the pipeline, the camera 2 needs to photograph all around in the advancing direction of the housing 1. Therefore, the camera 2 can be a wide-angle camera, so as to perform an all-round photograph of all around in the advancing direction of the device. This photographing method has a simple device structure, but due to the existence of a photographing angle, there will be a certain recognition distortion of the corrosion characteristics in the obtained photographed picture. Specifically, one end of a lead screw 20 can extend out of the housing 1, and this end is the front end. A columnar mounting seat is coaxially fixedly connected to the end of the lead screw 20, and the camera 2 is mounted on the columnar mounting seat. The camera 2 forms an angle with the axis of the columnar mounting seat, and this angle can be 30 - 150 degrees, with 90 degrees being preferred, and specific details are not elaborated here. When the device is moving forward, the lead screw 20 rotates to drive the device to advance, and the lead screw 20 rotates to drive the camera 2 to rotate. During the rotation of the camera 2, a spiral photograph of the inner wall of the pipeline is taken, so as to obtain a photographed picture of the inner wall of the pipeline. With the camera 2 arranged in this structure, the device has a simple structure, low production cost, and realizes synchronous drive. Of course, multiple cameras 2 can be provided, and their photographing directions are arranged in a star shape. The number of cameras 2 is generally 2 - 6, with 3 - 4 being preferred. Specific details need to consider the photographing angle of the camera 2, and specific details are not elaborated here.

[0044] Sandblasting recovery structure 4 is installed on the casing 1 and is used for sandblasting at fixed points on the inner wall of the pipeline and recovering sand grains and dust. The sandblasting recovery structure 4 can be arranged behind the camera 2, and the inner wall of the pipeline is photographed through the camera 2 to obtain a photographed image, and the sandblasting recovery structure 4 performs sandblasting treatment on the corrosion features in the photographed image. The sandblasting recovery structure 4 can be arranged at the rear end of the casing 1, so as to avoid the interference of the casing 1. Of course, other installation positions are not excluded, and specific details are not elaborated here. The sandblasting recovery structure 4 can include a protective cover 5, a telescopic pipeline, a telescopic driving structure 8, a rotation driving structure 9, a negative pressure dust suction assembly and a high-pressure sandblasting assembly. The telescopic pipeline is installed on the casing 1, and one end of it can be connected with a protective cover 5. The protective cover 5 can be a hemispherical structure, similar to a bowl shape, and can be a foldable structure or a stainless steel structure composed of aluminum foil and steel wire or made of plastic, which is convenient for compression to adapt to various environments, and specific details are not elaborated here. The shape of the telescopic pipeline can be an L-shaped structure, which includes a first bending part and a second bending part. The first bending part and the second bending part are connected in a communicating way. The first bending part is rotationally connected to the end of the casing 1, and the second bending part is a telescopic straight pipe structure. Specifically, it can be that there is a hose inside and a hard pipe is sleeved outside. There are at least two hard pipes, and their mutually remote ends are fixedly connected to the hose, and their mutually close ends are slidably sleeved with each other, so as to realize telescopic adjustment. The telescopic driving structure 8 can be an electric telescopic rod or a hydraulic rod, etc. The telescopic driving structure 8 is used to drive the second bending part to quantitatively extend and contract. When sandblasting operation is required, the telescopic driving structure 8 drives the telescopic pipeline to extend and adapt to the current inner diameter of the pipeline. The rotation driving structure 9 is connected to the telescopic pipeline and is used to drive the telescopic pipeline to rotate. The inside of the telescopic pipeline can include a first pipeline and a second pipeline, and both the first pipeline and the second pipeline can be buried in the first bending part and the second bending part. One end of the first pipeline is communicated with a sandblasting port 6, and the other end is communicated with a high-pressure sandblasting assembly. The second pipeline is communicated with a recovery port 7 and a negative pressure dust suction assembly. The sandblasting port 6 and the recovery port 7 are inside the protective cover 5. During operation, the high-pressure sandblasting assembly can spray sand grains such as steel sand, glass beads or ceramic particles. The protective cover 5 is covered on the area to be treated, the high-pressure sandblasting assembly is started, and the high-speed sprayed sand grains are sprayed out from the sandblasting port 6 and splashed on the inner wall of the pipeline, thus completing the cleaning. Under the action of the negative pressure dust suction assembly, the sprayed sand grains and the removed dust enter the inside of the negative pressure dust suction assembly through the recovery port 7 for collection, avoiding the accumulation of sand grains and dust in the pipeline and causing pollution. The high-pressure sandblasting assembly can include a sandblasting pump 11 and a sand box 12. The sand box 12 can be a rectangular box structure, and the inside of the sand box 12 is used for containing sand grains such as steel sand, glass beads or ceramic particles. The sandblasting pump 11 is communicated with the sandblasting pump 11, and the sandblasting pump 11 is communicated with the sandblasting port 6. The sandblasting pump 11 can pump out the sand grains inside the sand box 12 and spray them out from the sandblasting port 6 at high speed. The specific structure of the sandblasting pump 11 is the prior art and is not elaborated here.The negative pressure dust collection assembly may include an air pump 10 and a recovery box body. The recovery box body may be a cyclone separator or a box body with filtration. The recovery box body is communicated with the air pump 10 and the recovery port 7. Under the action of the air pump 10, a negative pressure is formed inside the recovery port 7, and the steel sand and dust ejected from the sand blasting port 6 are sucked into the recovery box body under the action of the negative pressure for collection, thereby avoiding pollution. A filter screen may be arranged inside the recovery box body, and the filter screen can separate the sand particles and the dust. The filter screen may be inclined. The recovery box body is located above the sand box 12, and the recovery box body is communicated with the sand box 12. The sand particles filtered in the recovery box body can enter the inside of the sand box 12 for recycling. Through this setting, the carrying amount of sand particles of the equipment can be reduced, and at the same time, the single processing capacity of the equipment can be increased. The sand blasting port 6 may be located at the middle position of the protective cover 5, and the recovery ports 7 are distributed around the sand blasting port 6. After the sand particles and the treated dust ejected from the sand blasting port 6 are impacted, they will rebound, so that they can quickly enter the inside of the recovery port 7, avoiding incomplete recovery of dust and sand particles. A storage battery may be arranged inside the machine shell 1, and it can also be powered by an electric wire, which is specifically designed according to actual needs and will not be elaborated here.

[0045] The controller can be installed on the housing 1 or remotely controlled through the background. The remote control can be connected by wireless or wired communication, with wireless communication connection being preferred. A signal receiving and information transmitting module needs to be set up for wireless communication connection, which is a specific prior art and will not be elaborated here. The controller can be electrically connected to the traveling drive assembly 21, the camera 2, the telescopic drive structure 8, the rotational drive structure 9, the air pump 10, and the sandblasting pump 11. During operation, the device can be placed at the end of the pipeline to be processed. By starting the traveling drive assembly 21 through the controller, under the action of the traveling drive assembly 21, the lead screw 20 rotates forward inside the housing 1. At this time, the rotational resistance of the driven gear 19 is greater than the sliding resistance of the drive gear disk 18 and the sliding disk 17. The rotational resistance of the drive gear disk 18 is greater than its sliding resistance, so that the drive gear disk 18 slides inside the housing 1. The drive gear disk 18 pushes the sliding disk 17 to move along, thereby pushing the support leg 13 and the end of the transmission shaft 15 to move laterally. The support leg 13 rotates on the housing 1, so that its end with the drive wheel 14 rotates outward, thereby increasing the distance between the drive wheels 14. When the drive wheels 14 contact the inner wall of the pipeline, the support leg 13 cannot rotate, and the transmission shaft 15 gives a reaction force to the sliding disk 17 to prevent it from sliding. The sliding disk 17 supports the drive gear disk 18 and prevents it from continuing to slide. At this time, the lead screw 20 continues to rotate, and the rotational force of the drive gear disk 18 is greater than its resistance. The drive gear disk 18 rotates to drive the driven gear 19 to rotate. Through the steering transmission member 16 for transmission, the transmission shaft 15 rotates inside the support leg 13. Through the steering gear 24 for transmission, the drive wheels 14 rotate at the end of the support leg 13, so that the device travels inside the pipeline. The camera 2 takes pictures of the inner wall of the pipeline to obtain the captured pictures. The controller constructs a coordinate atlas, which can include a plane coordinate system and the captured pictures. Here, it can be taken as an example that the camera 2 is installed on the lead screw 20. The abscissa of the plane coordinate system can be the axial length x of the pipeline. If the midline of the captured picture is taken as the origin of the ordinate, then the edges of the captured picture are S0 / 2 and -S0 / 2 respectively. Then the axial length x = S + l, where S is the traveling distance of the device. Here, we use the position of the camera 2 to calibrate the traveling distance. Of course, other calibration positions are not excluded, which will not be elaborated here. l is the distance from the coordinate point in the captured image to the midline. This value is positive if it is in front of the midline and negative if it is behind the midline. The ordinate is the rotation angle Φ of the camera 2, that is, the rotation angle of the coordinate point. The rotation angle Φ here can be calculated starting from the lowest point or other points. The rotation angle Φ = 2π(S % S0) / S0, where S is the traveling distance of the device, which can be obtained by setting a locator on the device or calculated from the output of the drive wheels 14. When the drive gear disk 18 starts to rotate, it is marked and calculated. The said S = ns, where n is the number of rotation turns of the drive gear disk 18, and s is the path traveled by the drive gear disk 18 in one rotation. No detailed examples will be given here.S0 is the distance that the device travels when the camera 2 rotates one circle. When the camera 2 is installed on and fixedly connected coaxially with the lead screw 20, S0 is the same as s. Other situations are not elaborated here. When multiple cameras 2 are set, they can be combined in regions. The % symbol represents the remainder operation and is not elaborated here. Crop and splice the captured images. Since we need to photograph the inner wall of the pipeline comprehensively without dead angles, the shooting width of the camera 2 needs to be greater than the distance that the device travels when the camera 2 rotates one circle, and the redundant parts need to be cropped. Specifically, it can extend S0 / 2 from the shooting center line of the camera 2 to both sides, and the other parts are overlapping parts that can be cropped and removed. Place the captured images into the plane coordinate system according to the shooting line diameter x of the pipeline, so as to obtain a coordinate map. The coordinate map constructed here is convenient for subsequent processing and more intuitive to observe. The shooting of the camera 2 is synchronously synthesized, with simple processing and not prone to errors. Process the coordinate map to extract corrosion features. Specifically, the coordinate map can be compared with a pre-prepared corrosion feature image map to determine whether the coordinate map has the to-be-processed corrosion features marked in the corrosion feature image map. The corrosion feature image map includes defects such as coating blistering, peeling, and hollowing that need to be processed, which specifically need to be set according to the actual processing situation. The corrosion feature image map can be continuously improved and optimized to improve the accuracy of comparison. The extraction and comparison of features are prior arts and are not elaborated here. If not, no extraction is performed. If so, analyze the coordinate map to obtain the range of to-be-processed corrosion features. Whether it is blistering, peeling, or hollowing, there are significant differences in the gray values between the edges and the normal inner wall of the pipeline. Specifically, the gray value g of the coordinate map at the current rotation angle can be obtained, calculate the difference in gray values Δg between the current coordinate point and the surrounding coordinate points, and determine whether the gray value difference Δg is greater than a standard gray value difference Δg. T , if not, no marking is performed. If so, mark this coordinate point as a boundary point. The standard gray value difference Δg T can be set according to the actual situation, generally 10 - 80, and is not elaborated here. Connect the boundary points linearly to form a closed area, and the closed area constitutes the range of to-be-processed corrosion features. Here, it is considered that the range of to-be-processed corrosion features is the corrosion features that can be processed, and those with too small a range can be directly excluded, which is not elaborated here. Calculate the leading point H of the range of to-be-processed corrosion features. The leading point H of the range of to-be-processed corrosion features is the boundary point with the shortest travel distance of the device, that is, the point with the smallest x value within the range of to-be-processed corrosion features. Calculate the processing path. The processing path can start from the leading point H of the range of to-be-processed corrosion features, and make the first path line W1 at intervals of L / 2. The path line W1 can be of the same x value, and then obtain multiple subsequent path lines W by making parallel lines to the first path line at intervals of r i, where i is the number of the path line. The process continues until the parallel lines no longer intersect the range of the corrosion feature to be processed. At this point, the total number of subsequent path lines is I. Here, i = 2, 3, …, I. Then, the intersection points of the path line and the boundary of the corrosion feature to be processed are obtained, and a serpentine curve is formed by connecting the head and the tail, which is used as the processing path. Then, the controller controls the device to travel a distance of S = x + L + (i - 0.5)r and intermittently stops driving forward. Here, i is the path line number, and at this time, i = 1, 2, …, I. Among them, L is the distance between the sandblasting center of the sandblasting recovery structure 4 and the midline of the camera 2, which can be simply considered as the distance between the camera 2 and the sandblasting port 6. r is the sandblasting treatment diameter of the sandblasting port 6. The controller controls the telescopic drive structure 8 to drive the telescopic pipe to extend so that the protective cover 5 contacts the inner wall of the pipe. The controller controls the sandblasting port 6 to rotate and blast sand through the rotation drive structure 9, and the rotation range is the angular range of the path line W i After the path line numbered i is processed, the path line numbered i + 1 is processed until all I path lines are processed, and then the device is controlled to drive normally and smoothly. The specific details are not elaborated here. Through this method, the automatic recognition and positioning of the corrosion feature can be completed, and the automatic locking and sandblasting of the sandblasting recovery structure 4 can be realized, and the automatic processing is carried out along the S line as the path line, avoiding the cumbersome and inconvenient manual processing, improving the working environment and reducing the workload.

[0046] Embodiment 2, referring to Figures 6-8 , the sliding disk 17 and the driving gear disk 18 can be connected through an elastic connection structure and locked by a pressure limit through an elastic unlocking structure; the elastic unlocking structure is used to limit the relative rotation of the sliding disk 17 and the driving gear disk 18 when the sliding disk 17 does not reach the preset resistance. When the resistance received by the sliding disk 17 exceeds the preset resistance, the elastic unlocking structure is unlocked, so that the driving gear disk 18 can rotate with the screw rod 20. By setting the elastic unlocking structure, the sequential linkage of the rotation of the support leg 13 and the rotation of the transmission shaft 15 can be ensured, ensuring the smooth progress of support and driving forward and avoiding the instability caused by friction limitation. The elastic unlocking structure can include a limiting piece 27 and a limiting groove 26. A plurality of limiting pieces 27 can be arranged and circumferentially fixed on the outer edge of the sliding disk 17 and facing the driving gear disk 18. The end of the limiting piece 27 facing the driving gear disk 18 is provided with a protrusion. A limiting groove 26 is opened at the corresponding position on the outside of the driving gear disk 18. The limiting groove 26 and the limiting piece 27 correspond one by one. When the driving gear disk 18 pushes the sliding disk 17 to move, the protrusion at the end of the limiting piece 27 enters the inside of the limiting groove 26. At this time, due to the limitation of the limiting groove 26 and the limiting piece 27, the driving gear disk 18 cannot rotate. When the driving wheel 14 contacts the inner wall of the pipe and cannot continue to move outward, the sliding disk 17 cannot move, and the resistance it receives increases rapidly. The driving gear disk 18 and the sliding disk 17 move relatively, and the limiting piece 27 slides out of the limiting groove 26. At this time, the driving gear disk 18 can rotate with the screw rod 20.

[0047] Reference Figure 9 The elastic connection structure can be arranged at the end of the rotating shaft 25 close to the driving gear disk 18. The elastic connection structure can include a buffer spring 28, a push rod 29 and a ball 30. The push rod 29 is telescopically arranged at the end of the rotating shaft 25. A buffer spring 28 is arranged between the push rod 29 and the rotating shaft 25 to ensure its elastic recovery and resistance. The end of the push rod 29 extends out of the rotating shaft 25 and is rotatably provided with a ball 30. The ball 30 contacts the driving gear disk 18. When the driving gear disk 18 pushes the sliding disk 17, the buffer spring 28 can be compressed. When the driving wheel 14 contacts the inner wall of the pipeline, the buffer spring 28 is quickly compressed, the driving gear disk 18 approaches the sliding disk 17, and the limiting piece 27 slides out of the limiting groove 26. When the lead screw 20 rotates reversely, the distance between the driving gear disk 18 and the sliding disk 17 increases, and the limiting piece 27 enters the inside of the limiting groove 26. A circular groove 31 can be formed in the driving gear disk 18. The circular groove 31 is coaxially arranged with the driving gear disk 18. The ball 30 can roll inside the circular groove 31. The arrangement of the ball 30 can reduce the friction between the driving gear disk 18 and the rotating shaft 25. The rotation of the driven gear 19 can be made more stable by the support of the driving gear disk 18. Through the reaction force of the ball 30 and circumferentially distributed on one side of the sliding direction of the driving gear disk 18, the rotation of the driving gear disk 18 is made more stable. The lead screw 20 drives the driving gear disk 18 to rotate, and the spiral groove will give the driving gear disk 18 an inclined force. Through the reverse support of the ball 30, the two forces can cancel each other out, making the rotation of the driving gear disk 18 more stable.

[0048] It should be understood that various forms of the processes shown above can be used, steps can be reordered, added or deleted. For example, the steps described in the present invention can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solutions disclosed in the present invention can be achieved. No limitations are imposed herein.

[0049] The above specific embodiments do not constitute a limitation to the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub - combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims

1. A mobile pipeline inner wall sandblasting device, characterized in that, The mobile pipeline inner wall sandblasting equipment comprises: Housing (1); A walking structure (3) is mounted on the casing (1) and is used to support the radius of the inner wall of the pipe to be operated and to drive the machine forward with a quantitative output; A camera (2) is mounted on the front end of the housing (1) and is used to photograph the inner wall of the pipe in the forward direction of the housing (1) and obtain photographed images; A sandblasting recovery structure (4) is installed on the casing (1) and is used to perform sandblasting on a fixed point on the inner wall of the pipeline and to recover sand particles and dust; A controller is electrically connected to the walking structure (3), the camera (2), and the sandblasting recovery structure (4), and the controller is used to control the walking structure (3) to support and quantitatively move forward on the inner wall of the pipeline; the camera (2) photographs the inner wall of the pipeline to obtain a photographed image; a coordinate map is constructed, and the coordinate map is processed to extract corrosion characteristics; the range of corrosion characteristics to be processed is calculated, and a processing path is calculated based on the range of corrosion characteristics to be processed; the controller controls the walking structure (3) to move intermittently, and the sandblasting recovery structure (4) performs sandblasting on the corrosion characteristic range according to the processing path and recovers sand particles and dust.

2. The mobile pipeline inner wall sandblasting equipment according to claim 1, characterized in that, The walking structure (3) comprises: a screw (20), a rotation transmission unit, a walking drive assembly (21) and a walking rod structure; the screw (20) is rotatably arranged inside the housing (1); the walking drive assembly (21) is drivingly connected to the screw (20) and is used to drive the screw (20) to rotate; the rotation transmission unit is mounted on the housing (1) and is drivingly connected to the screw (20) and is used to transmit according to the rotation of the screw (20) and complete the sliding and rotation transmission posture conversion according to the reaction force of the inner wall of the pipeline; the walking rod structure is mounted on the housing (1) and is drivingly connected to the rotation transmission unit and is used to complete the support of the inner wall of the pipeline through sliding drive and drive forward according to the rotation transmission.

3. The mobile pipeline inner wall sandblasting device according to claim 2, characterized in that, The rotation transmission unit comprises: a driven gear (19), a driving toothed disc (18) and a sliding disc (17); the driving toothed disc (18) is a disc structure, and a tooth pattern is formed on its edge, and the center of the driving toothed disc (18) is fitted and sleeved on the screw rod (20); the sliding disc (17) is slidably placed inside the housing (1), and the sliding direction of the sliding disc (17) is consistent with the transmission direction of the screw rod (20); a plurality of rotating shafts (25) are rotatably passed through the sliding disc (17); one end of the rotating shaft (25) is coaxially fixedly connected to the driven gear (19), and the driven gear (19) meshes with the tooth pattern on the driving toothed disc (18).

4. The mobile pipeline inner wall sandblasting device according to claim 3, wherein, The driving toothed disc (18) is configured as a barrel-shaped structure, with tooth patterns disposed on the inner wall of the edge thereof, and the driven gear (19) is meshed with and located on the inner side of the driving toothed disc (18).

5. The mobile pipeline inner wall sandblasting device according to claim 3, characterized in that, The walking rod structure includes: a driving wheel (14), a support leg (13), a transmission shaft (15) and a steering transmission member (16). The support leg (13) is rotatably connected to the machine housing (1); a driving wheel (14) is rotatably connected to one end of the support leg (13), a transmission shaft (15) is rotatably buried inside the support leg (13), one end of the transmission shaft (15) is connected to the rotational transmission unit through the steering transmission member (16), and the other end of the transmission shaft (15) is in transmission connection with the driving wheel (14) through a steering gear (24).

6. The mobile pipeline inner wall sandblasting device according to claim 5, characterized in that, The steering transmission member (16) is a universal joint transmission member, which includes two concave rod-shaped structures, and the two rod-shaped structures are rotatably connected through a cross-shaped rotating rod.

7. A mobile pipeline inner wall sandblasting device according to claim 5, characterized in that, An elastic buffer rod (23) is arranged between the transmission shaft (15) and the steering transmission member (16).

8. A mobile pipeline inner wall sandblasting device according to claim 1, characterized in that, One end of the lead screw (20) extends out of the machine housing (1), and a columnar mounting seat is coaxially and fixedly connected to the end of the lead screw (20). The camera (2) is mounted on the columnar mounting seat, and the orientation of the camera (2) forms an angle with the axis of the columnar mounting seat.

9. The mobile pipeline inner wall sandblasting device according to claim 1, characterized in that, The sandblasting and recycling structure (4) includes: a protective cover (5), a telescopic pipeline, a telescopic driving structure (8), a rotational driving structure (9), a negative pressure dust suction assembly and a high-pressure sandblasting assembly; the telescopic pipeline is mounted on the machine housing (1), one end of which is connected to the protective cover (5), the telescopic driving structure (8) is connected to the telescopic pipeline, and the telescopic driving structure (8) is used to drive the telescopic pipeline to telescopically extend or retract quantitatively; the rotational driving structure (9) is connected to the telescopic pipeline, and it is used to drive the telescopic pipeline to rotate; the inside of the telescopic pipeline includes a first pipeline and a second pipeline; one end of the first pipeline is communicated with a sandblasting port (6), and the other end is communicated with the high-pressure sandblasting assembly, the second pipeline is communicated with a recovery port (7) and the negative pressure dust suction assembly, and the sandblasting port (6) and the recovery port (7) are inside the protective cover (5).

10. A mobile pipeline inner wall sandblasting device according to claim 9, characterized in that, The negative pressure dust suction assembly and the high-pressure sandblasting assembly are communicated. The negative pressure dust suction assembly is used to separate the recycled dust and sand grains, and the recycled sand grains are led into the high-pressure sandblasting assembly for recycling.

Images