Internal anti-corrosion spraying equipment for small-pipe-diameter circular pipe

Abstract

The invention provides small-pipe-diameter circular pipe interior anti-corrosion spraying equipment, and belongs to the technical field of circular pipe interior spraying equipment.The small-pipe-diameter circular pipe interior anti-corrosion spraying equipment comprises an equipment shell, four automatic induction crawling mechanisms, a self-adaptive pressure structure, a spraying device and a control device.The four automatic induction crawling mechanisms are arranged on the periphery of the equipment shell and are arranged on the same circular ring; the self-adaptive pressure structure is arranged in the equipment shell and connected with the four automatic induction crawling mechanisms, the spraying device is arranged at the front end of the equipment shell, the control device is arranged in the equipment shell, and the control device is connected with the four automatic induction crawling mechanisms, the self-adaptive pressure structure and the spraying device. By arranging the automatic induction crawling mechanism, the spraying robot can adapt to spraying of different pipe diameters, meanwhile, the requirement for spraying of pipes with different gradients can be met, better adaptive capacity is achieved, meanwhile, automatic induction and calculation are conducted through an inclination sensor and the like, and the requirement that the interior of the spraying robot automatically adapts to spraying of different pipelines can be met.

Description

Technical Field

[0001] The invention relates to the technical field of internal spraying equipment for round tubes, in particular to internal anti-corrosion spraying equipment for small-diameter round tubes. Background Art

[0002] The cable guide tube inside the cable tower of Pingnan Bridge is made of 20# seamless steel pipe, which has several specifications: Ф299*8, Ф299*10, Ф325*8, Ф377*9, Ф377*16, and Ф402*12. The smallest pipe diameter is Ф299*8 and Ф299*10, and the maximum length of the pipe is m.

[0003] The design requires that all cable ducts be internally coated with an anti-corrosion coating: one coat of epoxy zinc-rich primer with a thickness of 80 μm, two coats of epoxy (micaceous iron) intermediate paint with a thickness of 120 μm, and two coats of fluorocarbon topcoat with a thickness of 80 μm. A total of five coats of paint are required, with a total thickness of 280 μm.

[0004] Due to the small diameter and long length of the cable conduit, the internal space is very narrow; anti-corrosion workers cannot enter the circular tube to perform conventional paint spraying operations. Therefore, for the internal spraying anti-corrosion of small diameter circular tubes, it is necessary to design targeted internal anti-corrosion equipment. It must be portable and easy to operate, while ensuring the spray quality, preventing excessive sagging on the tube wall, and ensuring that the paint film thickness and appearance meet the design requirements. Summary of the Invention

[0005] The purpose of the present invention is to provide an internal anti-corrosion spraying device for small-diameter circular pipes to solve the technical problems of existing cable guide pipes with small diameters, large lengths, very narrow internal spaces, great difficulty in anti-corrosion construction, and low efficiency.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] Small-diameter circular pipe internal anti-corrosion spraying equipment, including an equipment shell, four automatic sensing crawling mechanisms, an adaptive pressure structure, a spraying device and a control device. The four automatic sensing crawling mechanisms are respectively arranged around the equipment shell and are arranged on the same circular ring. The adaptive pressure structure is arranged inside the equipment shell and is connected to the four automatic sensing crawling mechanisms. The spraying device is arranged at the front end of the equipment shell. The control device is arranged inside the equipment shell, and the control device is connected to the four automatic sensing crawling mechanisms, the adaptive pressure structure and the spraying device.

[0008] The adaptive pressure structure is used to control the automatic sensing crawling mechanism to adapt to the crawling of pipes with different diameters and different slopes. The control device senses the slope of the equipment crawling in real time, and then controls the adaptive pressure structure to apply the corresponding pressure on the inner wall of the pipe.

[0009] Further, the automatic induction crawling mechanism comprises an arc-shaped plate, a pressure sensor, a spring cylinder device, a walking driving motor and a walking wheel, the spring cylinder device is connected to the outer side of the arc-shaped plate, the pressure sensor is arranged between the arc-shaped plate and the spring cylinder device, the walking wheel is arranged at the other end of the spring cylinder device, and the walking wheel is arranged in real time and vertically to the inner side wall of the circular pipe in real time, and the walking driving motor is arranged on the spring cylinder device and drives the walking wheel to rotate.

[0010] Further, the spring cylinder device comprises a sleeve, a spring and a telescopic clamping base, the telescopic clamping base is clamped at one end of the sleeve, the spring is arranged inside the sleeve and the telescopic clamping base, one end of the spring is connected to the inside of the sleeve, and the other end of the spring is connected to the other end of the telescopic clamping base.

[0011] Further, the working process of the automatic induction crawling mechanism is as follows: when the inner diameter of the circular pipe to be sprayed becomes larger, the equipment enters the pipe, the spring is elongated, the pressure of the pressure sensor becomes smaller, at this time, when the walking driving motor drives the walking wheel to rotate, since the pressure becomes smaller, the equipment cannot be driven to walk due to the slipping, the self-adapting pressure structure is used to expand and press the spring to increase the pressure, so that the pressing force and the friction force meet the crawling requirement, when the pipeline appears a steep slope, the inclination sensor on the control device senses the inclination degree, then the control device calculates the friction force required for climbing the slope, then the self-adapting pressure structure is controlled to increase the pressure of the arc-shaped plate, so that the climbing of the slope is realized.

[0012] Further, the self-adapting pressure structure comprises a lead screw motor, a telescopic lead screw, a fixed screw sleeve and an adapting rod, one end of the telescopic lead screw is connected to the lead screw motor, the telescopic lead screw is threadedly connected to the fixed screw sleeve, and one end of the adapting rod is connected to the other end of the telescopic lead screw.

[0013] Further, the adapting rod is provided as a round rod, the round rod gradually increases from one end to the other end, when it is required to increase the pressing pressure of the automatic induction crawling mechanism, the round rod is moved to the inner side of the arc-shaped plate from the end with a large diameter, so that the arc-shaped plate is pressed outward to increase the pressure of the pressure sensor.

[0014] Further, the spraying device comprises a coating tank, a spraying disc and a stroke sensor, the coating tank is arranged inside the equipment shell, a pressurizing pump is arranged in the coating tank, the pressurizing pump is connected to the spraying disc through a connecting pipe, and a plurality of nozzles are arranged on the spraying disc.

[0015] Further, the spraying disc is provided as a disc structure, the plurality of nozzles are arranged at intervals on the outer side of the disc structure, and the nozzles are communicated with the connecting pipe.

[0016] Further, the stroke sensor is connected to the control device, the control device comprises a controller and an inclination sensor, and the inclination sensor senses the slope of the equipment walking.

[0017] Furthermore, there are four automatic induction crawling mechanisms, which are arranged at equal arcs around the device housing.

[0018] The present invention has the following beneficial effects due to the adoption of the above technical solution:

[0019] The present invention can adapt to the spraying of pipes of different diameters and sizes by setting an automatic sensing crawling mechanism, and can also meet the needs of spraying in pipes of different slopes, achieving better adaptability. At the same time, automatic sensing and calculation are performed through tilt sensors, etc., which can realize automatic internal adaptation to the needs of spraying different pipelines. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic structural diagram of the spraying equipment of the present invention;

[0021] Figure 2 is a cross-sectional view of the spraying equipment of the present invention;

[0022] Figure 3 It is a schematic diagram of the automatic adjustment climbing structure of the present invention.

[0023] In the accompanying drawings, 1-equipment housing, 2-automatic sensing crawling mechanism, 2.1-arc plate, 2.2-pressure sensor, 2.3-sleeve, 2.4-spring, 2.5-telescopic base, 2.6-travel drive motor, 2.7-travel wheel, 3-adaptive pressure structure, 3.1-screw motor, 3.2-telescopic screw, 3.3-fixed screw sleeve, 3.4-adaptive rod, 4-paint box, 5-spray disc, 6-stroke sensor, 7-nozzle. DETAILED DESCRIPTION

[0024] To make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and by way of preferred embodiments. However, it should be noted that many of the details listed in this specification are merely provided to help the reader gain a thorough understanding of one or more aspects of the present invention, and these aspects of the present invention can be practiced even without these specific details.

[0025] like Figure 1 As shown, the anti-corrosion spraying equipment for the inside of small-diameter circular pipes includes an equipment shell 1, four automatic sensing crawling mechanisms 2, an adaptive pressure structure 3, a spraying device and a control device. The four automatic sensing crawling mechanisms 2 are respectively arranged around the equipment shell 1 and on the same circular ring. The adaptive pressure structure 3 is arranged inside the equipment shell 1 and is connected to the four automatic sensing crawling mechanisms 2. The spraying device is arranged at the front end of the equipment shell 1, and the control device is arranged inside the equipment shell 1. The control devices are all connected to the four automatic sensing crawling mechanisms 2, the adaptive pressure structure 3 and the spraying device.

[0026] The adaptive pressure structure 3 controls the automatic sensing crawling mechanism 2 to adapt to different pipe diameters and slopes. The control device senses the slope of the equipment in real time and then controls the adaptive pressure structure 3 to apply the corresponding pressure to the inner wall of the pipe. After the equipment reaches the end of the pipe to be sprayed, it controls the high-pressure pump to spray and then moves back. The specific travel speed is controlled according to the required spray thickness. The specific parameters are controlled by the spray data table.

[0027] When encountering a sloped pipe, the tilt sensor senses the tilt data, and then controls the adaptive pressure structure 3 to increase the squeezing force on the crawling mechanism 2, so that the friction of the outer wheels increases, which can adapt to the needs of different slopes and different pipe diameters.

[0028] In the embodiment of the present invention, Figure 2 As shown, the automatic sensing crawling mechanism 2 includes a curved plate 2.1, a pressure sensor 2.2, a spring cylinder device, a travel drive motor 2.6 and a travel wheel 2.7. The spring cylinder device is connected to the outer side of the curved plate 2.1, the pressure sensor 2.2 is arranged between the curved plate 2.1 and the spring cylinder device, the travel wheel 2.7 is arranged at the other end of the spring cylinder device, and the travel wheel 2.7 is arranged perpendicular to the inner wall of the circular tube in real time. The travel drive motor 2.6 is arranged on the spring cylinder device and drives the travel wheel 2.7 to rotate.

[0029] When the minimum radius of the adaptable rod 3.4 is on the inner side of the four curved plates 2.1, the four curved plates 2.1 form an arc structure. When a pipe with a larger diameter needs to be sprayed or a pipe with an upward slope needs to be sprayed, the larger diameter part of the adaptable rod 3.4 moves to the inner side of the four curved plates 2.1, achieving greater pressure extrusion and making the adaptability stronger.

[0030] In the embodiment of the present invention, Figure 2 As shown, the spring cylinder device includes a sleeve 2.3, a spring 2.4, and a telescopic holder 2.5. The telescopic holder 2.5 is mounted at one end of the sleeve 2.3, and the spring 2.4 is disposed within the sleeve 2.3 and the telescopic holder 2.5. One end of the spring 2.4 is connected to the interior of the sleeve 2.3, and the other end of the spring 2.4 is connected to the other end of the telescopic holder 2.5. The sleeve 2.3 is disposed in a non-contact manner with the outer wall of the device housing 1 and is movable to adapt to different pipelines.

[0031] In the embodiment of the present invention, Figure 2As shown, the working process of the automatic sensing crawling mechanism 2 is as follows: when the inner diameter of the circular tube to be sprayed becomes larger, the equipment enters the tube, the spring 2.4 extends, and the pressure of the pressure sensor 2.2 becomes smaller. At this time, when the walking drive motor 2.6 drives the walking wheel 2.7 to rotate, due to the decrease in pressure, slipping occurs, and the equipment cannot be driven to move. The adaptive pressure structure 3 expands the extrusion spring 2.4 to increase the pressure on the arc plate 2.1, so that the extrusion force and friction force meet the crawling requirements. When a steep slope appears in the pipeline, the tilt sensor on the control device senses the degree of tilt, and then the control device calculates the friction required for climbing, and then controls the adaptive pressure structure 3 to increase the pressure on the arc plate 2.1 to achieve climbing.

[0032] In this embodiment of the present invention, the adaptive pressure structure 3 includes a screw motor 3.1, a retractable screw 3.2, a fixed screw sleeve 3.3, and an adaptive rod 3.4. One end of the retractable screw 3.2 is connected to the screw motor 3.1, which is threadedly connected to the fixed screw sleeve 3.3. One end of the adaptive rod 3.4 is connected to the other end of the retractable screw 3.2. The adaptive rod 3.4 is configured as a round rod that gradually increases in diameter from one end to the other. When the extrusion pressure of the automatic sensing crawling mechanism 2 needs to be increased, the end of the round rod with the larger diameter moves to the inside of the curved plate 2.1, thereby squeezing the curved plate 2.1 outward and increasing the pressure of the pressure sensor 2.2.

[0033] In the embodiment of the present invention, Figure 1 As shown, the spraying device includes a paint box 4, a spray disk 5 and a stroke sensor 6. The paint box 4 is arranged inside the equipment housing 1. A pressure pump is provided in the paint box 4. The pressure pump is connected to the spray disk 5 through a connecting pipe. The spray disk 5 is provided with several nozzles 7.

[0034] The spraying disc 5 is configured as a disc structure, and a plurality of nozzles 7 are spaced apart and arranged on the outside of the disc structure, and the nozzles 7 are connected to the connecting pipe.

[0035] In this embodiment of the present invention, the travel sensor 6 is connected to a control device, which includes a controller and a tilt sensor. The tilt sensor senses the slope of the device. The controller collects data and then performs calculations based on the slope, the weight of the device, and other factors. When calculating pressure, the specific weight of the device must be considered to achieve faster crawling. The top portion primarily provides grip while the bottom portion provides support. However, the support portion may change in any direction due to changes in the pipe and rotation.

[0036] In this embodiment of the present invention, four automatic sensing crawling mechanisms 2 are arranged in equal arcs around the device housing. By providing these automatic sensing crawling mechanisms, the device can adapt to spraying pipes of varying diameters and slopes, achieving greater adaptability. Furthermore, automatic sensing and calculation using tilt sensors and other sensors allows the device to automatically adapt to the requirements of different pipe spraying applications.

[0037] Matters not covered by the present invention are known technologies.

[0038] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. Small diameter round pipe internal anti-corrosion spraying equipment, characterized by: The device comprises a device housing (1), four automatic sensing crawling mechanisms (2), an adaptive pressure structure (3), a spraying device and a control device, wherein the four automatic sensing crawling mechanisms (2) are respectively arranged around the device housing (1) and arranged on the same circular ring, the adaptive pressure structure (3) is arranged inside the device housing (1) and connected to the four automatic sensing crawling mechanisms (2), the spraying device is arranged at the front end of the device housing (1), and the control device is arranged inside the device housing (1), and the control device is connected to the four automatic sensing crawling mechanisms (2), the adaptive pressure structure (3) and the spraying device; The adaptive pressure structure (3) is used to control the automatic sensing crawling mechanism (2) to adapt to crawling of pipes with different diameters and different slopes. The control device senses the slope of the equipment crawling in real time, and then controls the adaptive pressure structure (3) to apply corresponding pressure on the inner wall of the pipe.

2. The small diameter circular pipe internal anti-corrosion spraying equipment according to claim 1 is characterized in that: The automatic induction crawling mechanism (2) comprises an arc plate (2.1), a pressure sensor (2.2), a spring barrel device, a travel drive motor (2.6) and a travel wheel (2.7). The spring barrel device is connected to the outer side of the arc plate (2.1), the pressure sensor (2.2) is arranged between the arc plate (2.1) and the spring barrel device, the travel wheel (2.7) is arranged at the other end of the spring barrel device, and the travel wheel (2.7) is arranged vertically to the inner wall of the circular tube in real time. The travel drive motor (2.6) is arranged on the spring barrel device and drives the travel wheel (2.7) to rotate.

3. The anti-corrosion spraying equipment for the interior of small-diameter round pipes according to claim 2, characterized in that: The spring cylinder device comprises a sleeve (2.3), a spring (2.4) and a telescopic card seat (2.5); the telescopic card seat (2.5) is clamped at one end of the sleeve (2.3); the spring (2.4) is arranged inside the sleeve (2.3) and the telescopic card seat (2.5); one end of the spring (2.4) is connected to the inside of the sleeve (2.3); and the other end of the spring (2.4) is connected to the other end of the telescopic card seat (2.5).

4. The anti-corrosion spraying equipment for the interior of small-diameter round pipes according to claim 4 is characterized in that: The working process of the automatic sensing crawling mechanism (2) is as follows: when the inner diameter of the circular pipe to be sprayed becomes larger, the device enters the pipe, the spring (2.4) extends, and the pressure of the pressure sensor (2.2) decreases. At this time, when the walking drive motor (2.6) drives the walking wheel (2.7) to rotate, due to the decrease in pressure, slipping occurs and the device cannot be driven to move. The adaptive pressure structure (3) increases the pressure of the arc plate (2.1) to expand the extrusion spring (2.4) to achieve the extrusion force and friction force meeting the crawling requirements. When the pipeline has a steep slope, the tilt sensor on the control device senses the tilt degree, and then the control device calculates the friction force required for climbing. Then, the adaptive pressure structure (3) is controlled to increase the pressure on the arc plate (2.1) to achieve climbing.

5. The anti-corrosion spraying equipment for the interior of small-diameter round pipes according to claim 1 is characterized in that: The adaptive pressure structure (3) comprises a screw motor (3.1), a retractable screw (3.2), a fixed screw sleeve (3.3) and an adaptive rod (3.4); one end of the retractable screw (3.2) is connected to the screw motor (3.1); the retractable screw (3.2) is threadedly connected to the fixed screw sleeve (3.3); and one end of the adaptive rod (3.4) is connected to the other end of the retractable screw (3.2).

6. The anti-corrosion spraying equipment for the interior of small-diameter round pipes according to claim 1, characterized in that: The adaptable rod (3.4) is configured as a round rod that gradually increases in size from one end to the other. When the extrusion pressure of the automatic sensing crawling mechanism (2) needs to be increased, the end of the round rod with a larger diameter is moved to the inner side of the arc plate (2.1), thereby squeezing the arc plate (2.1) outward and increasing the pressure of the pressure sensor (2.2).

7. The anti-corrosion spraying equipment for the interior of small-diameter round pipes according to claim 1, characterized in that: The spraying device comprises a paint box (4), a spraying disc (5) and a stroke sensor (6). The paint box (4) is arranged inside the equipment housing (1). A pressure pump is arranged inside the paint box (4). The pressure pump is connected to the spraying disc (5) through a connecting pipe. The spraying disc (5) is provided with a plurality of nozzles (7).

8. The anti-corrosion spraying equipment for the interior of small-diameter round pipes according to claim 7, characterized in that: The spraying disc (5) is arranged as a disc structure, and a plurality of nozzles (7) are arranged at intervals on the outside of the disc structure, and the nozzles (7) are communicated with the connecting pipe.

9. The anti-corrosion spraying equipment for the interior of small-diameter round pipes according to claim 7, characterized in that: The travel sensor (6) is connected to the control device, which includes a controller and an inclination sensor. The inclination sensor senses the slope of the device.

10. The anti-corrosion spraying equipment for the interior of small-diameter round pipes according to claim 7, characterized in that: The number of the automatic induction crawling mechanisms (2) is four, and they are arranged at equal arcs around the device housing.

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