A mobile pipe inner wall sandblasting equipment

Abstract

The present invention relates to the technical field of pipeline cleaning, and in particular to a mobile pipe inner wall sandblasting device. The mobile pipe inner wall sandblasting device may include: a walking structure, installed on a casing, which is used to support the radius of the pipe inner wall to be operated, and quantitatively output to drive forward. A camera, installed at the front end of the casing, is used to shoot the condition of the pipe inner wall in the forward direction of the casing and obtain the photographed picture. A sandblasting recovery structure, installed on the casing, is used to sandblast the pipe inner wall at a fixed point and recover sand particles and dust. A controller is electrically connected to the walking structure, the camera, and the sandblasting recovery structure. Through this method, the automatic identification and positioning of corrosion features, the adaptation to the inner wall of the pipe and the walking can be completed, and the automatic locking of the sandblasting recovery structure and the automatic processing of the S-line path line of the corrosion area can be realized, thereby avoiding the tediousness and inconvenience of manual processing, improving the working environment and reducing the workload.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline cleaning, and in particular 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 subjected to long-term high water velocities and sandy conditions. Corrosion failures are particularly common in welds and boundary transitions. Currently used ultra-wear-resistant epoxy topcoat systems, including epoxy zinc-rich primer, epoxy micaceous iron intermediate, and high-build solvent-free, suffer from blistering, flaking, and hollowing over time, seriously impacting the operational safety and economic benefits of hydropower equipment. Furthermore, the combined effects of river basin hydrology, seasonal temperature fluctuations, and structural variations in power plants make corrosion behavior highly complex and challenging to control.

[0003] Pipeline rust removal and painting construction still rely on manual labor, and there are the following pain points: closed spaces are seriously polluted by dust, and the sandblasting rust removal process is extremely harmful to health and the environment; manual painting accuracy is unstable, the repetition rate is high, and the efficiency is extremely low in ultra-long pipe sections; inspection and maintenance are highly dependent on experience; the protective material system lacks environmental friendliness and durability, and cannot cope with the long-term complex working conditions in the basin. Summary of the Invention

[0004] In order to solve the above technical problems, the present invention provides a mobile pipe inner wall sandblasting device for sandblasting and dust removal on the inner wall of the pipe, especially suitable for pipes with longer lengths. The mobile pipe inner wall sandblasting device includes:

[0005] chassis;

[0006] The walking structure is installed on the casing, which is used to support the inner wall radius of the pipe to be operated and output quantitative drive forward;

[0007] A camera is installed at the front end of the housing, and is used to photograph the inner wall of the pipe in the forward direction of the housing and obtain photographic images;

[0008] The sandblasting recovery structure is installed on the casing and is used to sandblast the inner wall of the pipe at a fixed point and recover sand and dust;

[0009] The controller is electrically connected to the walking structure, the camera, and the sandblasting recovery structure. The controller is used to control the walking structure to support and move forward quantitatively on the inner wall of the pipeline; the camera shoots 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 to move intermittently, and the sandblasting recovery structure sandblasts the corrosion characteristic range according to the processing path and recovers sand particles and dust.

[0010] Preferably, the casing is composed of an internal steel frame structure and an external shell body fixedly connected.

[0011] Preferably, the travel structure comprises a screw, a rotation transmission unit, a travel drive assembly, and a travel rod structure. The screw is rotationally arranged inside the housing; the travel drive assembly is transmission-connected to the screw and is used to drive the screw to rotate; the rotation transmission unit is mounted on the housing and transmission-connected to the screw, and is used to transmit the power according to the rotation of the screw and complete the sliding and rotation transmission posture conversion according to the reaction force of the inner wall of the pipeline; the travel rod structure is mounted on the housing and transmission-connected to the rotation transmission unit, and is used to support the inner wall of the pipeline through sliding drive and drive forward according to the rotation transmission.

[0012] Preferably: the travel drive assembly includes: a motor, a worm gear and a worm structure, the motor is installed in the casing, the output shaft of the motor is coaxially fixedly connected to the worm, the lead screw is coaxially fixedly connected to the worm wheel, the worm wheel and the worm are engaged, the motor rotates, and the transmission is transmitted through the worm gear and the worm, thereby driving the lead screw to rotate.

[0013] Preferably, the rotation transmission unit comprises: a driven gear, a driving toothed disc, and a sliding disc. The driving toothed disc is a circular disc having a toothed edge. The center of the driving toothed disc is fitted over the screw. As the screw rotates, the driving toothed disc is driven to slide or rotate relative to the housing. The sliding disc is slidably positioned within the housing, with the sliding direction of the sliding disc being consistent with the transmission direction of the screw. The sliding disc is provided with a plurality of rotating shafts that rotate therethrough. One end of the rotating shaft is coaxially fixedly connected to the driven gear, which meshes with the toothed surface of the driving toothed disc.

[0014] Preferably, the driving gear disc is configured as a barrel-shaped structure, the teeth are arranged on the inner wall of the edge thereof, and the driven gear is meshed and located on the inner side of the driving gear disc, thereby increasing the stability of the driven gear rotation.

[0015] Preferably, a guide optical shaft is fixedly mounted within the housing, and the sliding disc is slidably mounted on the guide optical shaft, thereby increasing the sliding stability of the sliding disc and ensuring smooth and stable sliding of the sliding disc. The radius of the sliding disc needs to be larger than that of the drive gear disc, and the guide optical shaft connection is located outside the drive gear disc to avoid rotational interference with the drive gear disc. A linear bearing can also be provided at a corresponding position on the sliding disc, sliding through the guide optical shaft, thereby reducing sliding friction of the sliding disc.

[0016] 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. One end of the support leg is rotatably connected to the driving wheel. A transmission shaft is rotatably embedded in the support leg. One end of the transmission shaft is connected to the rotating shaft via the steering transmission member, and the other end of the transmission shaft is connected to the driving wheel via a steering gear. The end of the support leg connected to the driving wheel rotates inward, storing the support leg and driving wheel inside the housing, thereby reducing the size of the equipment and facilitating transportation. The end of the support leg connected to the driving wheel rotates outward, causing the driving wheel to open outward and contact the inner wall of the pipe, thereby completing the support.

[0017] Preferably, the steering transmission member is a universal joint transmission member, which includes two concave rod-like structures, and the two rod-like structures are rotatably connected through a cross-shaped rotating rod.

[0018] Preferably, an elastic buffer rod is provided between the transmission shaft and the steering transmission member, and the elastic buffer rod adjusts the length of the transmission shaft as required, thereby adjusting the distance difference of the transmission shaft rotating with the support legs.

[0019] Preferably: one end of the screw rod extends out of the housing, and the end of the screw rod is coaxially fixedly connected to a columnar mounting base, and the camera is mounted on the columnar mounting base, and the camera is oriented to form an angle with the axis of the columnar mounting base. When the equipment is moving, the screw rod rotates to drive the equipment forward, and the rotation of the screw rod drives the camera to rotate. During the rotation of the camera, the inner wall of the pipe is spirally photographed, thereby obtaining a picture of the inner wall of the pipe.

[0020] Preferably, the sandblasting recovery structure comprises a protective cover, a telescopic pipe, a telescopic drive structure, a rotary drive structure, a negative pressure dust collection assembly, and a high-pressure sandblasting assembly. The telescopic pipe is mounted on the housing, one end of which is connected to the protective cover. The telescopic drive structure is connected to the telescopic pipe and is used to drive the telescopic pipe to extend and retract in a fixed manner. The rotary drive structure is connected to the telescopic pipe and is used to drive the telescopic pipe to rotate. The telescopic pipe internally comprises a first pipe and a second pipe. The first pipe is connected to a sandblasting port at one end and a high-pressure sandblasting assembly at the other end. The second pipe connects the recovery port and the negative pressure dust collection assembly, and the sandblasting port and the recovery port are located within the protective cover. During operation, the high-pressure sandblasting assembly sprays sand particles such as steel grit, glass beads, or ceramic particles. The protective cover is placed over the area to be treated, and the high-pressure sandblasting assembly is activated. Sand particles are ejected at high speed from the sandblasting port, splashing onto the inner wall of the pipe, thereby completing the cleaning process. Under the action of the negative pressure dust collection assembly, the ejected sand particles and the processed dust enter the negative pressure dust collection assembly through the recovery port for collection, preventing sand particles and dust from accumulating inside the pipe and causing contamination.

[0021] Preferably, the high-pressure sandblasting assembly includes a sandblasting pump and a sand box, wherein the sand box is a rectangular box structure, the interior of the sand box is used to hold sand particles, and the sandblasting pump is connected to the sandblasting port.

[0022] Preferably, the negative pressure dust collection assembly includes an air pump and a recovery box. The recovery box is connected to the air pump and the recovery port. Under the action of the air pump, a negative pressure is formed inside the recovery port. The steel grit and dust ejected from the sandblasting port are subjected to the negative pressure and enter the recovery box for collection, thereby avoiding contamination.

[0023] Preferably, the negative pressure vacuum assembly is connected to the high-pressure sandblasting assembly, separating recovered dust and sand. The recovered sand is then passed into the high-pressure sandblasting assembly for recycling. A filter is installed within the recovery box to separate the sand and dust. The filter is tilted, with the recovery box positioned above the sand box. The recovery box is connected to the sand box, allowing the sand filtered within the recovery box to be recycled within the sand box. This arrangement reduces the amount of sand carried by the equipment while increasing the equipment's single-shot processing capacity.

[0024] Preferably, the sandblasting port is located in the middle of the protective cover, and the recovery ports are distributed around the sandblasting port. The sand particles sprayed out of the sandblasting port and the treated dust will rebound after being impacted, so that they can quickly enter the interior of the recovery port, avoiding incomplete recovery of dust and sand particles.

[0025] Preferably, the telescopic conduit is L-shaped and includes a first bend and a second bend, the first bend communicating with the second bend, the first bend rotatably connected to the end of the housing, and the second bend being a telescopic straight tube. Specifically, a rigid tube is sheathed around the inner hose, with at least two rigid tubes provided, with their distal ends fixedly connected to the hose and their proximal ends slidingly sheathed together to achieve telescopic adjustment.

[0026] Preferred: The coordinate map construction method includes: a plane coordinate system and captured images. The horizontal coordinate of the plane coordinate system is the axis length x of the pipeline. Then the axis length x = S + l, where S is the travel distance of the equipment. Here, we calibrate the travel distance with the camera position; l is the distance from the coordinate point to the center line in the captured image; the vertical coordinate is the camera rotation angle Φ. The captured images are cropped and spliced ​​to implant the captured images into the plane coordinate system according to the captured line diameter x of the pipeline, thereby obtaining a coordinate map. The coordinate map constructed here is convenient for subsequent processing and more intuitive for observation. The camera capture is synchronized and synthesized, making the processing simple and error-prone.

[0027] Preferred: rotation angle Φ=2π(S%S0) / S0, where S is the distance traveled by the device, S0 is the distance traveled by the device when the camera rotates one circle, and % is the remainder sign.

[0028] Preferably, the travel distance of the device is S=ns, wherein n is the number of rotations of the driving gear disc, and s is the path traveled by the driving gear disc during one rotation.

[0029] 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 contains the corrosion features to be processed marked in the corrosion feature image map. If not, no extraction is performed; if so, the grayscale value g of the coordinate map at the current rotation angle is obtained, the grayscale value difference Δg between the current coordinate point and the surrounding coordinate points is calculated, and whether the grayscale value difference Δg is greater than a standard grayscale value difference Δg T If not, no mark is made. If yes, the coordinate point is marked as a boundary point, and each boundary point is connected by a straight line to form a closed area. The closed area constitutes the corrosion feature range to be processed.

[0030] Preferably, the processing path obtaining method includes: starting from the front point H of the corrosion feature range to be processed, making the first path line W1 with a spacing of L / 2, and then making parallel lines of the first path line with a spacing of r to obtain multiple subsequent path lines W i, where i is the path line number, until the parallel line does not intersect the range of the corrosion feature to be processed. The total number of path lines is I. At this time, i = 2, 3, ... I. The intersection of the path line and the boundary of the corrosion feature range to be processed is then obtained, and then connected end to end to form a serpentine curve, which is used as the processing path. The controller then controls the device to intermittently stop driving forward when the travel distance is S = x + L + (i-0.5) r. 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 diameter of the sandblasting port.

[0031] Preferably, the sliding disc and the drive sprocket are connected by an elastic connection structure and pressure-limited by an elastic unlocking structure. The elastic unlocking structure is used to limit relative rotation of the sliding disc and the drive sprocket when the sliding disc does not reach a preset resistance. When the resistance applied to the sliding disc exceeds the preset resistance, the elastic unlocking structure unlocks, thereby driving the sprocket to rotate with the screw. The elastic unlocking structure ensures the sequential linkage of the support leg rotation and the drive shaft rotation, ensuring smooth support and drive forward movement and avoiding friction-limited instability.

[0032] Preferably, the elastic unlocking structure includes a limiting piece and a limiting groove, wherein a plurality of the limiting pieces are provided and circumferentially fixed to the outer edge of the sliding disk and facing the driving gear disk, a protrusion is provided on the end of the limiting piece facing the driving gear disk, and a limiting groove is provided at a corresponding position on the outer side of the driving gear disk, and the limiting groove and the limiting piece correspond one to one, and when the driving gear disk pushes the sliding disk to move, the end of the limiting piece protrudes into the interior of the limiting groove, and at this time, due to the restriction of the limiting groove and the limiting piece, the driving gear disk cannot rotate. When the driving wheel contacts the inner wall of the pipe and cannot move further outward, the sliding disk cannot move, and its movement encounters resistance that increases rapidly, the driving gear disk and the sliding disk move relative to each other, the limiting piece slides out of the limiting groove, and at this time, the driving gear disk rotates along with the screw rod.

[0033] Preferably, the elastic connection structure includes a buffer spring, a push rod, and a ball bearing. The push rod is retractably mounted at the end of the rotating shaft, and a buffer spring is disposed between the push rod and the rotating shaft to ensure elastic recovery and resistance. The end of the push rod extends out of the rotating shaft and is provided with a ball bearing, which contacts the drive gear disc. When the drive gear disc pushes the sliding disc, the buffer spring compresses. When the drive wheel contacts the inner wall of the pipe, the buffer spring rapidly compresses, causing the drive gear disc to move toward the sliding disc, and the limit plate to slide out of the limit groove. When the screw rod rotates in the opposite direction, the distance between the drive gear disc and the sliding disc increases, and the limit plate enters the interior of the limit groove. A ring groove is provided on the driving sprocket, which is coaxially arranged with the driving sprocket. The ball rolls inside the ring groove. The setting of the ball can reduce the friction between the driving sprocket and the rotating shaft. The support of the driving sprocket can increase the stability of the rotation of the driven gear. The reaction force of the ball is circumferentially distributed on one side of the sliding direction of the driving sprocket, making the driving sprocket rotate more smoothly. The screw drive drives the driving sprocket to rotate, and the screw groove will give the driving sprocket a tilting force. Through the reverse support of the ball, the two forces can offset each other, making the driving sprocket rotate more smoothly.

[0034] The technical effects and advantages of the present invention are as follows: This method can realize automatic identification and positioning of corrosion features, realize automatic locking of sandblasting of sandblasting recovery structure, and perform automatic processing with S line as path line, thus avoiding the tediousness and inconvenience of manual processing, improving the working environment and reducing workload. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic diagram of the three-dimensional structure of a mobile pipeline inner wall sandblasting equipment proposed by the present invention.

[0036] Figure 2 This is a schematic diagram of the main structure of a mobile pipeline inner wall sandblasting equipment proposed by the present invention.

[0037] Figure 3 for Figure 2 Schematic diagram of the partial cross-sectional structure of the AA section.

[0038] Figure 4 This is a schematic diagram of the internal structure of a mobile pipeline inner wall sandblasting equipment proposed by the present invention.

[0039] Figure 5 This is a schematic diagram of the combined three-dimensional structure of the driving gear disc and the driven gear in Example 1 of the present invention.

[0040] Figure 6 This is a schematic diagram of the combined three-dimensional structure of the driving gear plate and the driven gear in Example 2 of the present invention.

[0041] Figure 7 This is a schematic top view of the structure of the combination of the driving gear plate and the driven gear in Example 2 of the present invention.

[0042] Figure 8 for Figure 7 Schematic diagram of the partial cross-sectional structure of the middle BB section.

[0043] Figure 9 for Figure 8 A magnified schematic diagram of the local structure of part C.

[0044] Explanation of the accompanying drawings: casing 1, camera 2, walking structure 3, sandblasting recovery structure 4, protective cover 5, sandblasting port 6, recovery port 7, telescopic drive structure 8, rotation 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 disk 17, driving gear disk 18, driven gear 19, screw 20, walking drive assembly 21, guide light axis 22, elastic buffer rod 23, steering gear 24, rotating shaft 25, limit groove 26, limit plate 27, buffer spring 28, push rod 29, ball 30, ring groove 31. DETAILED DESCRIPTION

[0045] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention. On the contrary, the embodiments of the present invention include all variations, modifications, and equivalents that fall within the spirit and scope of the appended claims.

[0046] Example 1, reference Figure 1-Figure 3 In this embodiment, a mobile pipe inner wall sandblasting device is proposed for sandblasting and dust removal on the inner wall of a pipe, and is particularly suitable for pipes of a longer length. The mobile pipe inner wall sandblasting device may include:

[0047] 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 made of stainless steel, aluminum alloy, etc., which are fixedly connected to form a frame 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. The details are not repeated here.

[0048] The walking structure 3 is mounted on the casing 1 and is used to support the inner wall radius of the pipe to be operated and to output a quantitative 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. The screw 20 can be located at the center of the casing 1 and can rotate inside the casing 1. Specifically, the ends and middle of the screw 20 can be rotatably connected to the inside of the casing 1 via bearings. The details are not described here. The screw 20 can be a grooved screw or a threaded screw, with a grooved screw being preferred. The grooved screw can be fitted with a ball bearing, 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 grooves of the grooved screw can be arranged relative to each other so that they can be driven relative to each other. 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, worm gear, and worm structure. The motor can be a three-phase motor that can control its forward and reverse rotation. The output shaft of the motor is coaxially fixedly connected to a worm, and the screw 20 is coaxially fixedly connected to 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 walking drive component 21 can also be a combination of a motor and a gear or a combination of a motor and a pulley. The walking 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 the rotation transmission units can be set to two, which can be set relative to each other front and back, so as to provide front and back support, stable support, and enable the position of the casing 1 to be located at the center line of the pipeline. Reference Figure 3-Figure 5, the rotation transmission unit may include a driven gear 19, a driving gear disc 18 and a sliding disc 17. The driving gear disc 18 may be a disc structure with teeth on its edge. The center of the driving gear disc 18 is fitted on the screw rod 20. As the screw rod 20 rotates, the driving gear 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 mounted inside the screw rod 20, that is, a through hole can be opened at the center position 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. 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 mounted on the guide light shaft 22, thereby increasing the sliding stability of the sliding disk 17 and making the sliding disk 17 slide smoothly. The number of guide light shafts 22 can be designed according to actual conditions, generally 2-7, with 3 or 4 being preferred, 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 drive gear disk 18, and the connection point of the guide light shaft 22 is located on the periphery of the drive gear disk 18 to avoid rotation interference with the drive gear disk 18. A linear bearing can also be provided at the corresponding position of the sliding disk 17, and the linear bearing slides through the guide light shaft 22, thereby reducing the sliding friction of the sliding disk 17. The sliding disk 17 can rotate through multiple rotating shafts 25, and the rotating shafts 25 can generally be evenly distributed, of course, some differences are not excluded. Generally, the number of the rotating shafts 25 can be 3 or 4, and the specific setting is based on actual conditions. One end of the rotating shaft 25 is coaxially fixedly connected to a driven gear 19, and the driven gear 19 meshes with the teeth on the driving sprocket 18. Specifically, the driving sprocket 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 sprocket 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 sprocket 18 slides, it can push the sliding disk 17 and the driven gear 19 to move. The contact position needs to meet the requirements of rotation and sliding, and the specific details are not described here. The other end of the rotating shaft 25 is connected to the walking rod structure. The walking rod structure is installed on the casing 1 and is connected to the rotating transmission unit for completing the support of the inner wall of the pipeline through sliding drive and driving 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 housing 1. The degree of opening of the support leg 13 can be adjusted by different rotation angles, thereby supporting the inner wall of the pipe. It is suitable for various types of pipes. One end of the support leg 13 can be rotatably connected to the driving wheel 14. The transmission shaft 15 is embedded in the support leg 13 for rotation. 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 connected to the driving wheel 14 through the steering gear 24. The end of the support leg 13 connected to the driving wheel 14 rotates inward, so that the support leg 13 and the driving wheel 14 can be stored inside the housing 1, thereby reducing the size of the equipment and facilitating transportation. The end of the support leg 13 connected to the driving wheel 14 rotates outward, and the driving wheel 14 opens outward and contacts the inner wall of the pipe, thereby completing the support. The transmission shaft 15 can be a straight rod structure, which of course does not exclude the angle transmission method. The steering transmission member 16 can be a universal joint transmission member, which includes two concave rod-shaped structures. The two rod-shaped structures are connected by a cross-shaped rotating rod to realize angle transmission. Its specific structure is a prior art and will not be described in detail here. The rotation connection point of the support leg 13 needs to be away from the drive wheel 14, so that the support leg 13 can be pushed to rotate over a small distance, which can increase the rotation path of the drive wheel 14 and improve the control ability. Since the steering transmission member 16 is pushed horizontally and the support leg 13 is set to rotate, there is a certain distance difference in the rotation of the support leg 13. An elastic buffer rod 23 can 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, thereby adjusting the distance difference of the transmission shaft 15 as the support leg 13 rotates. The elastic buffer rod 23 can be a rod-shaped structure that slides inside and outside and is nested, and a spring can also be provided inside. The details will not be described in detail here. The travel drive assembly 21 rotates the lead screw 20. At this point, the rotational resistance experienced by the driven gear 19 is greater than the sliding resistance of the drive gear 18 and the sliding plate 17. This resistance can be friction, but other resistances are not excluded. The rotational resistance of the drive gear 18 is greater than its sliding resistance, causing the drive gear 18 to slide within the housing 1. The drive gear 18 pushes the sliding plate 17 to follow it, thereby driving the support leg 13 and the end of the drive shaft 15 to move laterally. The support leg 13 rotates on the housing 1, causing the end of the support leg 13 with the drive wheel 14 to rotate outward.When the driving wheel 14 contacts the inner wall of the pipe, the support leg 13 cannot rotate, and the transmission shaft 15 gives the sliding disc 17 a reaction force to prevent it from sliding. The sliding disc 17 supports the driving gear disc 18 and prevents it from sliding. At this time, the 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, and the driving gear disc 18 drives the driven gear 19 to rotate, which is transmitted through the steering transmission member 16, so that the transmission shaft 15 rotates inside the support leg 13, and is transmitted through the steering gear 24, so that the driving wheel 14 can rotate at the end of the support leg 13, so that the equipment can move in the pipe. The driving wheels 14 of the two walking rod structures rotate in the same direction, which can be adjusted by different meshing directions of the driving wheels 14. The details are not repeated here. When the operation is completed and the device has traveled the entire length of the pipeline and reached the end of the pipeline, the travel drive assembly 21 drives the screw 20 to rotate in the opposite direction. This reverse rotation of the screw 20 drives the gear disc 18 in the opposite direction, pulling the sliding disc 17 in the opposite direction, or the support legs 13 can be reversed and returned to the interior of the housing 1 by the downward pressure of the device's gravity. This arrangement is suitable for one-way operation. By using the rotational force of the screw 20 to complete the rotation of the support legs 13, it can adapt to the inner diameter of various pipelines. The rotation of the drive wheel 14 drives its travel, achieving a single driving force to achieve both pipeline self-adjustment and travel drive, simplifying the device structure, reducing the device's manufacturing cost, and saving energy. Through the organic linkage conversion of adjustment and drive, various pipeline types can be automatically adapted, avoiding errors in pipeline type adjustment. The organic conversion of the sliding and rotation of the drive gear disc 18 can meet the support force and friction of the drive wheel 14 for travel, avoiding travel obstacles caused by insufficient friction. By adjusting multiple support legs 13 in an integrated manner, the centerline of the housing 1 and the centerline of the pipeline can be aligned, thus facilitating sandblasting positioning. By setting the elastic buffer rod 23, the adaptive adjustment of the rotation angle of the support leg 13 can be satisfied, which is convenient for setting the walking angle of the pipeline and improving the applicability. If the equipment needs to return to the operating origin, four walking rod structures and rotation transmission units can be set, and two groups of two are arranged opposite each other. The two groups of walking rod structures and rotation transmission units are in the position of the driving gear disc 18, and the driving directions of the two groups are different. The reverse rotation of the screw rod 20 can complete the folding of one group of walking rod structures and the opening of the other group, and complete the reverse drive. The specific structure is the same and will not be described in detail here. Of course, the walking rod structure and rotation transmission unit can also include other structural settings. For example, the driven gear 19 can be engaged with the outside of the driving gear disc 18, and the steering transmission member 16 can be a hemispherical gear or a gear ring with an arc, etc., which can ensure that the transmission is always engaged when the rotation angle exists. The specific details will not be described here.

[0049] The camera 2 can be installed on the housing 1 to shoot the inner wall of the pipe in the forward direction of the housing 1 and obtain a photographic image. The camera 2 can be at the forward end of the housing 1 to shoot the inner wall of the pipe where the front end of the device is located, thereby obtaining a photographic image of the inner wall of the pipe. 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 pipe we want to know is the situation in all directions of the inner wall of the pipe, the camera 2 needs to shoot all around in the forward direction of the housing 1, so the camera 2 can be a wide-angle camera, so that it can shoot all around in the forward direction of the device. This shooting method has a simple equipment structure, but due to the shooting angle, the corrosion features in the obtained pictures will have certain recognition distortion. Specifically, one end of the screw rod 20 extends out of the housing 1, and this end is the front end. The end of the screw rod 20 is coaxially fixedly connected to a columnar mounting seat, and the camera 2 is installed on the columnar mounting seat. The camera 2 is oriented to form an angle with the axis of the columnar mounting seat. The angle can be 30-150 degrees, with 90 degrees being preferred. The details are not described here. When the device is moving, the screw rod 20 rotates to drive the device forward, and the screw rod 20 rotates to drive the camera 2 to rotate. During the rotation of the camera 2, the inner wall of the pipe is spirally photographed, thereby obtaining a photographic image of the inner wall of the pipe. The camera 2 set in this structure has a simple device structure, low production cost, and realizes synchronous drive. Of course, the camera 2 can be set in multiples, and its shooting direction is set in a star-shaped manner. The number of cameras 2 is generally 2-6, and specifically 3-4 is preferred. The shooting angle of the camera 2 needs to be taken into consideration. The details are not described here.

[0050] The sandblasting recovery structure 4 is installed on the casing 1 and is used to sandblast the inner wall of the pipe at a fixed point and recover sand and dust. The sandblasting recovery structure 4 can be set behind the camera 2, and the camera 2 is used to shoot the inner wall of the pipe to obtain a photographic picture, and the sandblasting recovery structure 4 sandblasts the corrosion features in the photographic picture. The sandblasting recovery structure 4 can be set at the rear end of the casing 1, so as to avoid interference from the casing 1. Of course, other installation positions are not excluded, and the details are not repeated here. The sandblasting recovery structure 4 can include a protective cover 5, a telescopic pipe, a telescopic drive structure 8, a rotation drive structure 9, a negative pressure dust suction component and a high-pressure sandblasting component. The telescopic pipe is installed on the casing 1, and one end thereof can be connected to a protective cover 5. The protective cover 5 can be a hemispherical structure, similar to a bowl shape, and can be a foldable structure made of aluminum foil and steel wire or plastic, or a stainless steel structure, which is easy to compress to adapt to various environments. The details are not repeated here. The telescopic duct can be L-shaped and comprise a first bend and a second bend, which are interconnected and pivotally connected to the end of the housing 1. The second bend is a retractable straight tube. Specifically, the inner hose can be sheathed with a rigid tube. At least two rigid tubes are provided, with the distal ends fixedly connected to the hose and the proximal ends slidingly connected to each other, thereby enabling telescopic adjustment. A telescopic drive mechanism 8, such as an electric telescopic rod or a hydraulic rod, drives the second bend to extend and retract in a fixed manner. When sandblasting is required, the telescopic drive mechanism 8 extends the telescopic duct to adjust to the current inner diameter. A rotational drive mechanism 9 is connected to the telescopic duct and drives its rotation. The telescopic duct can include a first and a second duct, both of which can be embedded within the first and second bends. One end of the first duct is connected to a sandblasting port 6, and the other end is connected to a high-pressure sandblasting assembly. The second duct connects to a recovery port 7 and a negative pressure dust collection assembly. The sandblasting port 6 and the recovery port 7 are located within the protective cover 5. During operation, the high-pressure sandblasting assembly can spray sand particles such as steel sand, glass beads, or ceramic particles. The protective cover 5 is placed over the area to be treated, and the high-pressure sandblasting assembly is activated. Sand particles are ejected at high speed from the sandblasting port 6 and splashed on the inner wall of the pipe, thereby completing the cleaning. Under the action of the negative pressure dust suction assembly, the ejected sand particles and the treated dust enter the negative pressure dust suction assembly through the recovery port 7 for collection, thereby preventing the sand particles and dust from accumulating inside the pipe 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. The interior of the sand box 12 is used to hold sand particles such as steel sand, glass beads, or ceramic particles. The sandblasting pump 11 is connected to the sandblasting port 6. The sandblasting pump 11 can pump the sand particles inside the sand box 12 out and spray them out from the sandblasting port 6 at high speed. The specific structure of the sandblasting pump 11 is prior art and will not be described in detail here.The negative pressure dust collection assembly may include an air pump 10 and a recovery box. The recovery box may be a cyclone separator or a box with a filter. The recovery box is connected to 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. The steel sand and dust sprayed from the sandblasting port 6 are subjected to the negative pressure and enter the recovery box for collection, thereby avoiding pollution. A filter may be provided inside the recovery box, which can separate the sand and dust. The filter can be tilted, and the recovery box is above the sand box 12. The recovery box is connected to the sand box 12, and the sand filtered in the recovery box can enter the sand box 12 for recycling. Through this setting, the amount of sand carried by the equipment can be reduced, and the single processing capacity of the equipment can be increased. The sandblasting port 6 can be located in the middle of the protective cover 5, and the recovery ports 7 are distributed around the sandblasting port 6. After the sand and dust ejected from the sandblasting port 6 are impacted, they rebound and quickly enter the recovery port 7, thereby avoiding incomplete recovery of dust and sand. The housing 1 can be equipped with a battery or powered by an electric wire. The specific design is based on actual needs and will not be described in detail here.

[0051] The controller can be installed on the casing 1 or can be remotely controlled through the background. The remote control can be wireless or wired communication connection, among which wireless communication connection is preferred. Wireless communication connection requires the setting of signal receiving and information transmission modules, which are specific existing technologies and will not be described here. The controller can be electrically connected to the travel drive assembly 21, the camera 2, the telescopic drive structure 8, the rotation drive structure 9, the air pump 10 and the sandblasting pump 11. During operation, the equipment can be placed at the end of the pipeline to be processed, and the travel drive assembly 21 is started by the controller. Under the action of the travel drive assembly 21, the screw 20 rotates forward inside the casing 1. At this time, the rotational resistance of the driven gear 19 is greater than the sliding resistance of the driving gear disc 18 and the sliding disc 17. The rotational resistance of the drive gear disc 18 is greater than its sliding resistance, causing the drive gear disc 18 to slide inside the housing 1. The drive gear disc 18 pushes the sliding disc 17 to move with it, thereby driving the support leg 13 and the end of the transmission shaft 15 to move laterally. The support leg 13 rotates on the housing 1, causing its end with the drive wheel 14 to rotate outward, thereby increasing the distance between the drive wheels 14. When the drive wheel 14 contacts the inner wall of the pipe, the support leg 13 cannot rotate. The transmission shaft 15 exerts a reaction force on the sliding disc 17, preventing it from sliding. The sliding disc 17 supports the drive gear disc 18 and prevents it from sliding further. At this time, the screw 20 continues to rotate. The rotational force of the drive gear disc 18 is greater than its resistance. The rotation of the drive gear disc 18 drives the driven gear 19 to rotate. The rotation is transmitted through the steering transmission member 16, causing the drive shaft 15 to rotate inside the support leg 13. The transmission is transmitted through the steering gear 24, causing the drive wheel 14 to rotate at the end of the support leg 13, thereby allowing the device to move within the pipe. Camera 2 captures the inner wall of the pipe to obtain a picture. The controller constructs a coordinate map, which may include a plane coordinate system and captured images. Here, we can take the camera 2 installed on the screw 20 as an example. The horizontal coordinate of the plane coordinate system can be the axis length x of the pipeline. If the center line of the captured image is used as the origin of the vertical coordinate, the edges of the captured image are S0 / 2 and -S0 / 2 respectively, then the axis length x=S+l, where S is the travel distance of the equipment. Here we calibrate the travel distance with the position of camera 2. Of course, other calibration positions are not excluded, and the details are not repeated here. l is the distance from the coordinate point to the center line in the captured image. If it is in front of the center line, this value is positive, and if it is behind the center line, this value is negative. The vertical coordinate is the rotation angle Φ of camera 2, that is, the rotation angle of the coordinate point. The rotation angle Φ here can be calculated from the lowest point or other points. The rotation angle Φ=2π(S%S0) / S0, where S is the travel distance of the device, which can be obtained by setting a positioner on the device, or calculated by the output of the driving wheel 14. When the driving gear disc 18 starts to rotate, it is marked and calculated. The said S=ns, where n is the number of rotations of the driving gear disc 18, and s is the path traveled by the driving gear disc 18 in one rotation. Detailed examples are not given here.S0 is the distance that the device travels when camera 2 rotates one circle. When camera 2 is installed on screw rod 20 and fixed coaxially, S0 is the same as s. Other cases are not described here. When multiple cameras 2 are set, they can be combined in different areas. % is the remainder symbol, which is not described here. The captured pictures are cropped and spliced, because we need to shoot the inner wall of the pipeline in all directions and there must be no dead angles. The shooting width of camera 2 needs to be greater than the distance that the device travels when camera 2 rotates one circle, and the excess part needs to be cropped. Specifically, it can be extended S0 / 2 to both sides with the shooting center line of camera 2. The other parts are overlapping parts and can be cropped and removed. The captured pictures are implanted into the plane coordinate system according to the shooting line diameter x of the pipeline, so that a coordinate map can be obtained. The coordinate map constructed here is convenient for subsequent processing and more intuitive to observe. Camera 2 shoots synchronous synthesis, which is simple to process and not prone to errors. The coordinate map is processed 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 contains the corrosion features to be processed marked in the corrosion feature image map. The corrosion feature image map includes defects that require treatment, such as coating blistering, flaking, and hollowing. The specific settings need to be set according to the actual treatment situation. The corrosion feature image map can be continuously improved and optimized to improve the accuracy of the comparison. Feature extraction and comparison are existing technologies and will not be described in detail here. If no, extraction is not performed. If yes, the coordinate map is analyzed to determine the range of corrosion features to be processed. Whether it is blistering, flaking, or hollowing, the grayscale value of its edge is significantly different from that of the normal pipe inner wall. Specifically, the grayscale value g of the coordinate map at the current rotation angle can be obtained, the grayscale value difference Δg between the current coordinate point and the surrounding coordinate points is calculated, and it is determined whether the grayscale value difference Δg is greater than a standard grayscale value difference Δg. T If not, no mark is made. If yes, the coordinate point is marked as a boundary point. The standard gray value difference Δg T It can be set according to the actual situation, generally 10-80, and the details are not described here. Connect the boundary points with straight lines to form a closed area, and the closed area constitutes the range of corrosion characteristics to be processed. Here, the range of corrosion characteristics to be processed is considered to be corrosion characteristics that can be processed. The range that is too small can be directly excluded. The details are not described here. Calculate the frontier point H of the range of corrosion characteristics to be processed. The frontier point H of the range of corrosion characteristics to be processed is the boundary point with the shortest travel distance of the equipment, that is, the point with the smallest x in the range of corrosion characteristics to be processed. Calculate and obtain the processing path. The processing path can be based on the frontier point H of the range of corrosion characteristics to be processed as the starting point, and make the first path line W1 with a spacing of L / 2. The path line W1 can be the same x value, and then make parallel lines of the first path line with a spacing 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, then the total number of subsequent path lines is I. At this time, i=2, 3,…I. Then obtain the intersection of the path line and the boundary of the range of corrosion features to be processed, and then connect the end to end to form a serpentine curve, and use the serpentine curve as the processing path. Then, the controller controls the equipment to stop driving forward intermittently when the travel distance is S=x+L+(i-0.5)r, i is the path line number, and at this time i=1, 2,…I. Wherein L is the distance between the sandblasting center of the sandblasting recovery structure 4 and the shooting center line 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 diameter of the sandblasting port 6. Control 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 by rotating the drive structure 9, and the rotation range is the path line W i Within the angle range, after processing the path line numbered i, the path line numbered i+1 is processed, and the control device is driven normally and smoothly after processing the path line numbered i. The details are not described here. This method can automatically identify and locate corrosion features, and realize automatic locking of the sandblasting recovery structure 4. The S line is used as the path line for automatic processing, avoiding the tedious and inconvenient manual processing, improving the working environment and reducing the workload.

[0052] Example 2, reference Figure 6-Figure 8 The sliding disc 17 and the driving gear disc 18 can be connected by an elastic connection structure and pressure-limited and locked by an elastic unlocking structure. The elastic unlocking structure is used to limit the relative rotation of the sliding disc 17 and the driving gear disc 18 when the sliding disc 17 does not reach a preset resistance. When the resistance applied to the sliding disc 17 exceeds the preset resistance, the elastic unlocking structure is unlocked, so that the driving gear disc 18 can rotate with the screw rod 20. The elastic unlocking structure can ensure the sequential linkage of the rotation of the support leg 13 and the rotation of the transmission shaft 15, ensuring smooth support and driving forward movement and avoiding unstable friction limitation. The elastic unlocking structure may include a limiting piece 27 and a limiting groove 26. The limiting piece 27 may be provided in plurality and fixed circumferentially on the outer edge of the sliding disc 17 and facing the driving gear disc 18. The limiting piece 27 is provided with a protrusion at the end facing the driving gear disc 18. The limiting groove 26 is provided at a corresponding position on the outer side of the driving gear disc 18. The limiting groove 26 and the limiting piece 27 correspond one to one. When the driving gear disc 18 pushes the sliding disc 17 to move, the end of the limiting piece 27 protrudes into the interior of the limiting groove 26. At this time, due to the restriction of the limiting groove 26 and the limiting piece 27, the driving gear disc 18 cannot rotate. When the driving wheel 14 contacts the inner wall of the pipe and cannot move further outward, the sliding disc 17 cannot move. Its movement is rapidly increased by the resistance. The driving gear disc 18 and the sliding disc 17 move relative to each other, and the limiting piece 27 slides out of the limiting groove 26. At this time, the driving gear disc 18 can rotate with the screw rod 20.

[0053] refer to Figure 9 The elastic connection structure can be set at the end of the rotating shaft 25 near the driving gear disc 18. The elastic connection structure may include a buffer spring 28, a push rod 29, and a ball 30. The push rod 29 is retractably set at the end of the rotating shaft 25. A buffer spring 28 is set 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 provided with a ball 30 for rotation. The ball 30 contacts the driving gear disc 18. When the driving gear disc 18 pushes the sliding disc 17, the buffer spring 28 can be compressed. When the driving wheel 14 contacts the inner wall of the pipe, the buffer spring 28 is rapidly compressed, and the driving gear disc 18 approaches the sliding disc 17, and the limiting plate 27 slides out of the limiting groove 26. When the screw 20 rotates in the opposite direction, the distance between the driving gear disc 18 and the sliding disc 17 increases, and the limiting plate 27 enters the interior of the limiting groove 26. A ring groove 31 can be opened on the driving gear disc 18, and the ring groove 31 is coaxially arranged with the driving gear disc 18. The ball 30 can roll inside the ring groove 31. The arrangement of the ball 30 can reduce the friction between the driving gear disc 18 and the rotating shaft 25. The support of the driving gear disc 18 can increase the stability of the rotation of the driven gear 19. The reaction force of the ball 30 is circumferentially distributed on one side of the sliding direction of the driving gear disc 18, so that the driving gear disc 18 rotates more smoothly. The screw rod 20 drives the driving gear disc 18 to rotate, and the screw groove will give the driving gear disc 18 a tilting force. Through the reverse support of the ball 30, the two forces can offset each other, so that the driving gear disc 18 rotates more smoothly.

[0054] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed 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. This is not limited herein.

[0055] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A mobile pipe inner wall sandblasting device, characterized in that: The mobile pipeline inner wall sandblasting equipment includes: Housing (1); A walking structure (3) is mounted on the housing (1) and is used to support the inner wall radius of the pipe to be operated and to output a quantitative drive forward; 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 transmission-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 transmission-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 transmission-connected to the rotation transmission unit, and is used to complete the support of the inner wall of the pipeline by sliding drive, and drive forward according to the rotation transmission; 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 provided on its edge, and the center of the driving toothed disc (18) is fitted 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 provided on 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) is meshed with the tooth pattern on the driving toothed disc (18); The walking rod structure comprises: a driving wheel (14), a supporting leg (13), a transmission shaft (15) and a steering transmission member (16); the supporting leg (13) is rotatably connected to the housing (1); one end of the supporting leg (13) is rotatably connected to the driving wheel (14); a transmission shaft (15) is rotatably embedded inside the supporting leg (13); one end of the transmission shaft (15) is connected to the rotation transmission unit through the steering transmission member (16); and the other end of the transmission shaft (15) is transmission-connected to the driving wheel (14) through the steering gear (24); 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 photographic images; A sandblasting recovery structure (4) is mounted on the housing (1) and is used to perform sandblasting on a fixed point on the inner wall of the pipe and to recover sand and dust; The controller is electrically connected to the walking structure (3), the camera (2), and the sandblasting recovery structure (4). 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) takes a picture of the inner wall of the pipeline to obtain a picture; 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 obtained 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 pipe inner wall sandblasting equipment according to claim 1, characterized in that: The driving toothed disc (18) is configured as a barrel-shaped structure, with tooth patterns provided 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).

3. A mobile pipe inner wall sandblasting device according to claim 1, 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.

4. The mobile pipe inner wall sandblasting equipment according to claim 1, characterized in that: An elastic buffer rod (23) is provided between the transmission shaft (15) and the steering transmission member (16).

5. The mobile pipe inner wall sandblasting equipment according to claim 1, characterized in that: One end of the screw rod (20) extends out of the housing (1), and the end of the screw rod (20) is coaxially fixedly connected to a columnar mounting seat, and the camera (2) is mounted on the columnar mounting seat, and the camera (2) is oriented to form an angle with the axis of the columnar mounting seat.

6. The mobile pipe inner wall sandblasting equipment according to claim 1, characterized in that: The sandblasting recovery structure (4) comprises: a protective cover (5), a telescopic pipe, a telescopic drive structure (8), a rotation drive structure (9), a negative pressure dust suction component and a high pressure sandblasting component; the telescopic pipe is mounted on the housing (1), one end of which is connected to the protective cover (5); the telescopic drive structure (8) is connected to the telescopic pipe, and the telescopic drive structure (8) is used to drive the telescopic pipe to quantitatively extend and retract; the rotation drive structure (9) is connected to the telescopic pipe, and is used to drive the telescopic pipe to rotate; the interior of the telescopic pipe comprises a first pipe and a second pipe; one end of the first pipe is connected to a sandblasting port (6), and the other end is connected to a high pressure sandblasting component; the second pipe is connected to a recovery port (7) and a negative pressure dust suction component, and the sandblasting port (6) and the recovery port (7) are located inside the protective cover (5).

7. The mobile pipe inner wall sandblasting equipment according to claim 6, characterized in that: The negative pressure dust suction component is connected to the high pressure sand blasting component. The negative pressure dust suction component is used to separate the recovered dust and sand particles. The recovered sand particles are passed into the high pressure sand blasting component for recycling.

Images