Pipeline inner wall spraying robot

Abstract

The invention discloses a pipeline inner wall spraying robot and relates to the field of pipeline spraying, the pipeline inner wall spraying robot comprises a spraying arm, the side wall of the spraying arm is sequentially provided with an atomizing nozzle, a contact type smearing assembly and a combined drying mechanism in the length direction of the spraying arm, the contact type smearing assembly comprises an arc-shaped rod and an arc-shaped smearing roller, the arc-shaped rod is fixed to the spraying arm, and the arc-shaped smearing roller is fixed to the spraying arm; the combined drying mechanism comprises an electric heating plate and a hot air curing plate which are fixedly installed on the spraying arm, the electric heating plate is located between the hot air curing plate and the contact type spraying assembly, a plurality of hot air holes are formed in the bottom of the hot air curing plate, the pipeline is provided with a roller frame, and the spraying arm moves in the axial direction of the pipeline. According to the spraying device, the atomizing nozzle is driven to linearly spray towards the inner bottom wall of the pipeline, then the roller frame is matched to drive the pipeline to rotate, so that the non-sprayed area enters the spraying range of the atomizing nozzle, the spraying position of each time is located under the atomizing nozzle, and the problem that a coating is uneven due to gravity flowing is avoided.

Description

Technical Field

[0001] This invention relates to the field of pipeline spraying technology, specifically to a pipeline inner wall spraying robot. Background Technology

[0002] In the field of construction engineering, pipelines, as the core carriers for the transmission of media such as water, gas, and fluids, have inner walls that are in constant contact with the transmitted media and the environment, making them susceptible to corrosion, scaling, or contamination. Therefore, specialized coatings are required to ensure performance and lifespan. Different types of building pipelines have significantly different coating functional requirements due to variations in the transmitted media and working environments. For example: For building water supply and drainage pipelines: drinking water pipelines require food-grade epoxy resin coatings to prevent heavy metal leaching or microbial growth, ensuring water quality; sewage or rainwater discharge pipelines require acid and alkali resistant anti-corrosion coatings (such as polyethylene modified coatings) to resist the erosion of the pipeline's inner wall by acids and alkalis in sewage, preventing leakage; building gas transmission pipelines require gas-resistant and highly sealing polyolefin coatings to prevent impurities such as hydrogen sulfide in the gas from reacting with the pipeline's metal substrate, while also reducing gas permeation loss and ensuring safe use; building industrial auxiliary pipelines (such as air conditioning cooling water and heating hot water pipelines) require temperature-resistant and anti-scaling coatings (such as polytetrafluoroethylene composite coatings) to prevent coating aging caused by high-temperature fluids, reduce scale adhesion, and lower pipeline flow resistance. To achieve comprehensive coating coverage of the inner wall of pipes, existing building pipe spraying processes generally adopt a cyclical mode of "circumferential spraying - axial movement": the spraying device first sprays a complete circle around the inner wall of the pipe, ensuring coverage of the circumferential area of ​​the current cross-section; after completing one circle, the spraying device moves forward a preset distance (usually 50-100mm) along the axial direction of the pipe and sprays again in the circumferential direction; through this cyclic action, the coating coverage of the entire inner wall of the pipe is gradually completed. However, the inner wall of building pipes has a circular structure, and the above-mentioned traditional spraying mode cannot avoid the problem of uneven coating. The core issue lies in the influence of gravity on the wet film, specifically: the sprayed coating is in a wet film state and is fluid before it is fully cured. The wet film in the top area of ​​the inner wall of the pipe will drip downwards due to gravity; the wet film in the areas on both sides of the inner wall will also slowly converge downwards along the arc surface. This directly leads to the coating on the lower part of the pipe wall thickening due to the combined effect of "dripping + accumulation," while the coating on the top and sides becomes thin due to the loss of wet film. Some thin coating areas may not even completely cover the substrate, creating a "leakage" hazard. The coatings of pipes for different purposes need to meet specific thickness requirements. For example, the epoxy resin coating thickness of drinking water pipes needs to be ≥0.3mm. Uneven thickness will directly damage the coating function: thin coating areas are prone to premature aging and corrosion due to insufficient thickness, shortening the service life of the pipe; thick coating areas may develop cracks due to curing shrinkage, forming leakage channels. For example, if there are cracks in the thick coating of a building gas pipe, it may lead to gas seepage and cause safety accidents; thin coating areas of drinking water pipes may experience substrate corrosion, polluting the water quality. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a pipe inner wall spraying robot to solve the shortcomings of the prior art.

[0004] The objective of this invention is achieved through the following technical solution: a pipe inner wall spraying robot, comprising a spraying arm, wherein an atomizing nozzle, a contact coating assembly, and a combined drying mechanism are sequentially arranged along the length of the side wall of the spraying arm; the contact coating assembly includes an arc-shaped rod and an arc-shaped coating roller; the arc-shaped rod is fixed to the spraying arm, and the arc-shaped coating roller is movably mounted on the arc-shaped rod; the combined drying mechanism includes an electric heating plate and a hot air curing plate fixedly installed on the spraying arm, wherein the electric heating plate is located near the hot air... Between the curing plate and the contact coating assembly, the electric heating plate is provided with multiple electric heating wires, the hot air curing plate is provided with a hot air cavity, and the bottom of the hot air curing plate is provided with several hot air holes, which are connected to the hot air cavity. The pipe is equipped with a roller frame, and the spraying arm moves along the axial direction of the pipe, so that the atomizing nozzle performs linear spraying operation towards the inner bottom wall of the pipe. In addition, the roller frame drives the pipe to rotate, so that the unsprayed area enters the spraying range of the atomizing nozzle, so that the spraying position of the pipe is directly below the atomizing nozzle each time.

[0005] Furthermore, it also includes a three-jaw positioning disk, which has a positioning groove extending through it along its own axis. The spraying arm slides and adapts to the positioning groove. The three-jaw positioning disk is provided with three sets of positioning claws, which are evenly distributed around the circumference of the positioning groove. The positioning claws have a degree of freedom to move radially along the positioning groove. The end of the spraying arm away from the atomizing nozzle is connected to a multi-degree-of-freedom drive device. The multi-degree-of-freedom drive device is used to enable the spraying arm to have a degree of freedom of movement along the X, Y, and Z axes in the spatial coordinate system.

[0006] Furthermore, the multi-degree-of-freedom drive device includes a movable base, a lifting seat, a transverse slide, a longitudinal slide, and a docking seat. The bottom of the movable base is equipped with multiple casters, and the top of the movable base is vertically equipped with multiple first cylinders. The lifting seat is mounted on the telescopic shaft of the first cylinders. A first linear drive module is mounted on the lifting seat. The transverse slide is mounted on the slide of the first linear drive module. A second linear drive module is mounted on the transverse slide. The longitudinal slide is mounted on the slide of the second linear drive module. The movement direction of the transverse slide is perpendicular to the movement direction of the longitudinal slide. The docking seat is mounted on the longitudinal slide, and the spraying arm is connected to the docking seat.

[0007] Furthermore, the docking seat includes a docking base plate, a lifting fine-tuning seat, a longitudinal fine-tuning seat, and a top docking block. The docking base plate is fixed on a longitudinal slide, and the lifting fine-tuning seat is mounted on the docking base plate. The lifting fine-tuning seat has a degree of freedom to move in the vertical direction. The longitudinal fine-tuning seat is slidably disposed on the top surface of the lifting fine-tuning seat, and the moving direction of the longitudinal fine-tuning seat is perpendicular to the spraying moving direction of the spraying arm. The top docking block is fixed on the top surface of the longitudinal fine-tuning seat. A docking hole is provided on the side of the top docking block near the spraying arm. A docking cone rod is coaxially fixed to the end of the spraying arm near the top docking block, and the diameter of the docking cone rod gradually increases along the end near the spraying arm.

[0008] Furthermore, a sliding shaft is fixed to the bottom of the lifting fine-tuning seat, a fine-tuning cavity is provided inside the docking substrate, the bottom of the sliding shaft passes through the fine-tuning cavity and is connected to a first spring, the first spring is connected to the inner bottom wall of the docking substrate, a rectangular groove is opened on the top surface of the lifting fine-tuning seat, two longitudinal sliders are fixed to the bottom of the longitudinal fine-tuning seat, the longitudinal sliders slide and adapt to the rectangular groove, the longitudinal sliders contact the inner side wall of the rectangular groove, and a second spring is connected to both ends of the longitudinal fine-tuning seat in its sliding direction, the second spring is connected to the lifting fine-tuning seat.

[0009] Furthermore, clamping assemblies are provided on both symmetrical sidewalls of the docking substrate. Each clamping assembly includes a clamping cylinder and a clamping block. The cylinder body of the clamping cylinder is horizontally mounted on the docking substrate. The telescopic shaft of the clamping cylinder passes through the fine-tuning cavity and is connected to the clamping block. The sliding shaft is located on the moving path of the clamping block.

[0010] Furthermore, the lifting fine-tuning seat is provided with a longitudinal fine-tuning locking mechanism, which includes a locking base plate and a locking slide. The locking base plate is slidably disposed between the two longitudinal sliders. The moving direction of the locking base plate is perpendicular to the spraying moving direction of the spraying arm. Each longitudinal slider is provided with a locking slide, and the moving direction of the locking slide is perpendicular to the moving direction of the locking base plate, for pressing the longitudinal slider against the side wall of the rectangular groove.

[0011] Furthermore, the longitudinal fine-tuning locking mechanism also includes a locking shaft and a locking cylinder. A guide groove is formed through the locking slide along its thickness direction. The guide groove extends toward the moving direction of the longitudinal fine-tuning seat. A guide shaft is adapted in the guide groove. The guide shaft is fixed on the locking base plate. The locking shaft is rotatably mounted on the lifting fine-tuning seat. One end of the locking shaft extends into a rectangular groove and is connected to a cam. The cam contacts one end of the locking base plate. The other end of the locking base plate is connected to a third spring. The other end of the locking shaft extends from the top of the lifting fine-tuning seat and is connected to a drive disk. The cylinder body of the locking cylinder is hinged to the lifting fine-tuning seat. The telescopic shaft of the locking cylinder is eccentrically hinged to the drive disk.

[0012] Furthermore, the small-diameter end of the docking cone rod is provided with a positioning base hole, an infrared emitter is installed in the positioning base hole, a detection cavity is provided in the top docking block, a pressure sensor is installed in the detection cavity, the pressure detection shaft of the pressure sensor extends into the docking hole, a shaft locking mechanism is installed on the top docking block, the shaft locking mechanism includes a locking block, two locking cavities are provided in the top docking block, the two locking cavities are symmetrically arranged about the docking hole, the locking cavities are connected to the docking hole, and the locking block is slidably arranged in the locking cavity.

[0013] Furthermore, the shaft locking mechanism also includes a main shaft and a shaft locking cylinder. Each locking block is equipped with a main shaft, which is rotatably connected to the top docking block. One end of the main shaft passes through the locking cavity and is connected to a locking cam. The other end of the main shaft passes through the top of the top docking block and is connected to a gear. The gears connected to the two main shafts mesh with each other. A locking disc is connected to one of the main shafts. The cylinder body of the shaft locking cylinder is hinged to the top docking block. The telescopic shaft of the shaft locking cylinder is eccentrically hinged to the locking disc. A spring disc is connected to the end of the locking block away from the docking hole. A fourth spring is connected to the spring disc. The fourth spring is connected to a step formed inside the locking cavity.

[0014] The beneficial effects of this invention are: 1. The atomizing nozzle on the spraying arm sprays downwards. The spraying arm first carries the atomizing nozzle to perform a linear spraying operation along the axial direction of the pipe, thereby covering the inner bottom wall of the pipe axially. During the spraying process, the combined drying mechanism simultaneously dries the coating, making the coating solid and non-flowable. Then, the roller frame drives the pipe to deflect, causing another area in the circumferential direction to rotate into the spraying range of the atomizing nozzle, and perform a linear spraying operation again. This process is repeated to achieve uniform spraying of the inner wall of the pipe, avoiding the problem of uneven coating caused by gravity flow.

[0015] 2. The combined drying unit adopts a method of indirect heating followed by hot air contact heating. Indirect heating initially cures the coating, greatly reducing its fluidity. Then, hot air contact heating is applied to further cure the coating, while ensuring that the hot air does not cause the coating to flow, so that the curing of the coating does not affect the coating quality.

[0016] 3. The spray arm is positioned by a three-jaw positioning plate. First, the spray arm is set coaxially with the pipeline. Then, the spray arm is connected to a multi-degree-of-freedom drive device. The multi-degree-of-freedom drive device drives the spray arm to move downward, so that the atomizing nozzle is close to the inner bottom wall of the pipeline. This allows the atomizing nozzle to accurately correspond to the inner bottom wall of the pipeline, so that the coating is less affected by its own gravity and is less likely to flow, causing uneven coating. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a pipe inner wall spraying robot according to the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the spraying arm in a pipe inner wall spraying robot according to the present invention; Figure 3 This is a schematic diagram of the structure of a pipe inner wall spraying robot according to the present invention. Figure 2 ; Figure 4 This is a schematic diagram of the structure of a pipe inner wall spraying robot according to the present invention. Figure 3 ; Figure 5 This is a schematic diagram showing the cooperation between the lifting fine-tuning seat and the longitudinal fine-tuning plate in a pipe inner wall spraying robot of the present invention. Figure 6 This is a schematic diagram illustrating the cooperation between the docking base plate and the lifting fine-tuning seat in a pipe inner wall spraying robot according to the present invention. Figure 7 This is a schematic diagram of the internal structure of the top docking block in a pipe inner wall spraying robot according to the present invention; Figure 8 This is a schematic diagram of the internal structure of the spraying arm in a pipe inner wall spraying robot according to the present invention; In the diagram, 1-spraying arm, 2-atomizing nozzle, 3-arc rod, 4-arc coating roller, 5-electric heating plate, 6-hot air curing plate, 7-hot air cavity, 8-hot air hole, 9-three-jaw positioning plate, 10-moving base, 11-lifting seat, 12-transverse slide, 13-longitudinal slide, 14-dating seat, 15-positioning claw, 16-positioning groove, 17-first cylinder, 18-first linear drive module, 19-second linear drive module, 20-dating substrate, 21-lifting fine-tuning seat, 22-longitudinal fine-tuning seat, 23-top docking block, 24-dating hole, 25-dating cone rod, 26-sliding shaft, 27-fine-tuning cavity, 28-first spring, 29-rectangular groove, 30-longitudinal slider, 31-second spring, 32-locking substrate, 33-locking slide 34-Locking shaft, 35-Locking cylinder, 36-Guide groove, 37-Guide shaft, 38-Cam, 39-Drive disc, 40-Third spring, 41-Positioning base hole, 42-Infrared emitter, 43-Detection chamber, 44-Pressure sensor, 45-Locking block, 46-Main shaft, 47-Shaft locking cylinder, 48-Locking chamber, 49-Locking cam, 50-Gear, 51-Locking disc, 52-Spring disc, 53-Fourth spring, 54-Clamping cylinder, 55-Cylindrical mating body, 56-Positioning pin, 57-Spraying rod, 58-Spraying channel, 59-Hot air channel, 60-Clamping block, 61-Fixed roller base, 62-Fixed roller frame, 63-Sliding roller frame, 64-Roller seat, 65-Roller, 66-Double threaded screw. Detailed Implementation

[0018] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.

[0019] Example 1 like Figures 1 to 8As shown, a pipe inner wall spraying robot includes a spraying arm 1. Along its length, the side wall of the spraying arm 1 is sequentially equipped with an atomizing nozzle 2, a contact coating assembly, and a combined drying mechanism. The contact coating assembly includes an arc-shaped rod 3 and an arc-shaped coating roller 4. The arc-shaped rod 3 is fixed to the spraying arm 1, and the arc-shaped coating roller 4 is movably mounted on the arc-shaped rod 3. The combined drying mechanism includes an electric heating plate 5 and a hot air curing plate 6 fixedly installed on the spraying arm 1. The electric heating plate 5 is located between the hot air curing plate 6 and the contact coating assembly. Multiple electric heating wires are disposed within the electric heating plate 5. The hot air curing plate 6 has a hot air cavity 7, and several hot air holes 8 are opened at the bottom of the hot air curing plate 6, connecting to the hot air cavity 7. The system is equipped with a roller frame. The spray arm 1 moves axially along the pipe, causing the atomizing nozzle 2 to perform linear spraying towards the inner bottom wall of the pipe. The roller frame also rotates the pipe, bringing unsprayed areas into the spraying range of the atomizing nozzle 2. This ensures that the pipe is always sprayed directly below the atomizing nozzle 2. The pipe to be sprayed is placed on the roller frame, and the position of the spray arm 1 is adjusted so that the atomizing nozzle 2 is directly facing the inner bottom wall of the pipe. The spray arm 1 then moves axially along the pipe, spraying the inner bottom wall through the atomizing nozzle 2. The linear spraying is achieved by combining the linear movement of the atomizing nozzle 2 with the spray arm 1. The curved coating roller 4 behind the atomizing nozzle 2 ensures more even coating application and also helps to ensure the coating... The coating thickness meets the requirements. During spraying, a combined drying mechanism simultaneously dries the coating. First, an electric heating wire heats the heating plate 5, which pre-cures the coating, preventing it from flowing. Indirect heating is used to further cure the coating, preventing flow during curing. Then, hot air is sprayed through the hot air holes 8 of the hot air curing plate 6, directly acting on the coating for further curing. This contact curing method ensures rapid and effective curing. Because the coating is pre-cured, subsequent contact curing prevents flow. After spraying the axial area of ​​the inner bottom wall of the pipe, the coating is then dried using a roller rack. The pipe is rotated at a certain angle, causing the next unpainted area to be deflected directly below the atomizing nozzle 2. The next area is then sprayed again by axial coverage spraying. The coating in the sprayed area has already cured, so when the coating is on the side wall and above the pipe, it will not flow or drip due to gravity. This process is repeated to achieve uniform spraying of the inner wall of the pipe. The method of first axial coverage spraying and then deflecting the pipe ensures that the area sprayed each time is directly below the atomizing nozzle 2. The coating curing operation is carried out simultaneously during the spraying process, which ensures that the coating will not flow or drip when it is deflected to the sides and above the pipe, thus improving the uniformity of the coating and avoiding the problem of "skimming".

[0020] Example 2 Since the atomizing nozzle 2 needs to be directly facing the inner bottom wall of the pipe for spraying, the relative position between the atomizing nozzle 2 and the pipe needs to be determined before spraying. Therefore, based on Example 1, as follows... Figures 1 to 4 As shown, it also includes a three-jaw positioning disk 9, which has a positioning groove 16 extending through its own axis. The spraying arm 1 slides into the positioning groove 16. The three-jaw positioning disk 9 is provided with three sets of positioning claws 15, which are evenly distributed around the circumference of the positioning groove 16. The positioning claws 15 have a degree of freedom to move radially along the positioning groove 16. The end of the spraying arm 1 away from the atomizing nozzle 2 is connected to a multi-degree-of-freedom drive device. The multi-degree-of-freedom drive device is used to enable the spraying arm 1 to have three degrees of freedom of movement along the X, Y, and Z axes in the spatial coordinate system. The three-jaw positioning disk 9 can be a three-jaw chuck. The three-jaw positioning disk 9 is set at the end of the pipe near the spraying arm 1. First, the positioning claws 15 are placed inside the pipe, and then the position of the positioning claws 15 is adjusted so that the three sets of positioning claws 15 move closer to each other simultaneously. The inner wall of the pipe moves, causing the three sets of positioning claws 15 to simultaneously contact the inner wall of the pipe for installation and centering adjustment. Then, the spraying arm 1 is inserted into the positioning groove 16, which matches the size of the spraying arm 1, thus arranging the spraying arm 1 coaxially with the pipe. Next, one end of the spraying arm 1 is connected to a multi-degree-of-freedom drive device, which drives the spraying arm 1 to move along the axial direction of the pipe, causing the spraying arm 1 to pass through the positioning groove 16 of the three-jaw positioning plate 9. Then, the three-jaw positioning plate 9 is removed, and the multi-degree-of-freedom drive device drives the spraying arm 1 back into the pipe. Then, the multi-degree-of-freedom drive device drives the spraying arm 1 to move vertically, causing the atomizing nozzle 2 to approach the inner bottom wall of the pipe, completing the positioning of the atomizing nozzle 2. Finally, the spraying operation can be completed by simply moving the spraying arm 1 along the axial direction of the pipe.

[0021] Example 3 Based on Example 2, such as Figure 1 , Figure 2 and Figure 8As shown, the spraying arm 1 includes a cylindrical docking body 55, a positioning post 56, and a spraying rod 57. The two ends of the positioning post 56 are connected to the spraying rod 57 and the cylindrical docking body 55, respectively. The atomizing nozzle 2, the contact spraying assembly, and the combined drying mechanism are all mounted on the spraying rod 57. The cross-section of the positioning post 56 and the positioning groove 16 are both rectangular. The positioning of the atomizing nozzle 2 is achieved through the fitting of the positioning post 56 and the positioning groove 16. This rectangular pairing allows the atomizing nozzle 2 to smoothly align with the inner bottom wall of the pipe. Furthermore, the cross-sectional dimension of the spraying rod 57 is smaller than that of the positioning post 56, allowing the spraying rod 57, carrying the atomizing nozzle 2, the contact coating assembly, and the combined drying mechanism, to smoothly pass through the positioning groove 16. This not only completes the positioning of the spraying arm 1 but also facilitates the removal of the three-jaw positioning plate 9. The spraying arm 57 has a spraying channel 58 and a hot air channel 59 inside. The spraying channel 58 and the hot air channel 59 are independent of each other. The atomizing nozzle 2 is connected to the spraying channel 58, and the hot air channel 59 is connected to the hot air cavity 7 of the hot air curing plate 6. Both the spraying channel 58 and the hot air channel 59 extend into the positioning column 56. The side wall of the positioning column 56 is provided with a spraying nozzle connected to the spraying channel 58 and a hot air nozzle connected to the hot air channel 59. The spraying nozzle and the hot air nozzle are both set on the positioning column 56 so that the front end of the positioning column 56 can smoothly cooperate with the positioning groove 16 to complete the positioning. The spraying nozzle is connected to the paint pump through the spraying hose. The paint pump is connected to the coating tank through the pipe. The hot air nozzle is connected to the hot air blower through the metal hose, so that hot air and coating can be delivered over a long distance without affecting the positioning of the spraying arm 1.

[0022] Example 4 Based on Example 3, such as Figures 1 to 7As shown, the multi-degree-of-freedom drive device includes a movable base 10, a lifting seat 11, a transverse slide 12, a longitudinal slide 13, and a docking seat 14. Multiple casters are mounted on the bottom of the movable base 10, and multiple first cylinders 17 are vertically mounted on the top of the movable base 10. The lifting seat 11 is mounted on the telescopic shaft of the first cylinders 17, and a first linear drive module 18 is mounted on the lifting seat 11. The transverse slide 12 is mounted on the slide of the first linear drive module 18, and a second linear drive module 19 is mounted on the transverse slide 12. The longitudinal slide 13 is mounted on the slide of the second linear drive module 19. The movement direction of the transverse slide 12 is perpendicular to the movement direction of the longitudinal slide 13. The docking seat 14 is mounted on the longitudinal slide 13, and the spraying arm 1 is connected to the docking seat 14. The casters facilitate the movement of the multi-degree-of-freedom drive device. The multi-degree-of-freedom drive device is placed at one end of the roller frame. The extension and retraction of the first cylinder 17 drives the docking seat 14 to move vertically, denoted as the Z-axis direction of the spatial coordinate system. The first linear drive module 18 drives the docking seat 14 to move linearly horizontally, denoted as the X-axis direction of the spatial coordinate system. The second linear drive module 19 drives the docking seat 14 to move linearly horizontally, denoted as the Y-axis direction of the spatial coordinate system. The three-jaw positioning plate 9 first completes the positioning of the spraying arm 1, and then adjusts the position of the docking seat 14 to connect the spraying arm 1 with the docking seat 14. The spraying arm 1 can then be moved by the docking seat 14. It is only necessary to move the spraying arm 1 vertically to bring the atomizing nozzle 2 close to the inner bottom wall of the pipe, and then make the atomizing nozzle 2 move linearly along the axial direction of the pipe to complete the axial linear spraying.

[0023] Example 5 When docking seat 14 and spraying arm 1 are docked, the position of docking seat 14 can only be roughly controlled, and precise docking of docking seat 14 cannot be achieved. Therefore, based on embodiment four, as follows: Figures 1 to 7As shown, the docking seat 14 includes a docking base plate 20, a lifting fine-tuning seat 21, a longitudinal fine-tuning seat 22, and a top docking block 23. The docking base plate 20 is fixed on the longitudinal slide 13. The lifting fine-tuning seat 21 is mounted on the docking base plate 20 and has a degree of freedom to move in the vertical direction. The longitudinal fine-tuning seat 22 is slidably disposed on the top surface of the lifting fine-tuning seat 21. The moving direction of the longitudinal fine-tuning seat 22 is perpendicular to the spraying moving direction of the spraying arm 1. The top docking block 23 is fixed on the top surface of the longitudinal fine-tuning seat 22. A docking hole 24 is opened on the side of the top docking block 23 near the spraying arm 1. A docking cone rod 25 is coaxially fixed to one end of the spraying arm 1 near the top docking block 23. The diameter of the docking cone rod 25 gradually increases along the end near the spraying arm 1. The small-diameter end of the 25 has a positioning base hole 41, and an infrared emitter 42 is installed in the positioning base hole 41. The top docking block 23 has a detection cavity 43, and a pressure sensor 44 is installed in the detection cavity 43. The pressure detection shaft of the pressure sensor 44 extends into the docking hole 24. A shaft locking mechanism is installed on the top docking block 23. The shaft locking mechanism includes a locking block 45. Two locking cavities 48 are opened in the top docking block 23. The two locking cavities 48 are symmetrically arranged about the docking hole 24 and are connected to the docking hole 24. The locking block 45 is slidably arranged in the locking cavity 48. When the positioning post 56 of the spraying arm 1 is engaged in the positioning groove 16, the docking operation between the docking seat 14 and the spraying arm 1 is then performed. The infrared emitter 42 is turned on, so that the infrared emitter... 42 emits infrared light, making the axis of the spraying arm 1 visible. The worker adjusts the position of the top docking block 23 according to the position of the infrared light, allowing the infrared light to enter the docking hole 24, thus completing the initial positioning of the docking hole 24 and the spraying arm 1. Then, the top docking block 23 moves closer to the docking cone 25, allowing the docking cone 25 to smoothly insert into the docking hole 24. This docking method cannot guarantee that the docking cone 25 is completely fitted into the docking hole 24, resulting in low docking strength and inability to achieve good drive. Therefore, the top docking block 23 has fine-tuning freedom in the Y and Z directions. That is, by moving the lifting fine-tuning seat 21 on the docking base plate 20, the top docking block 23 has the freedom to move along the Z-axis. The longitudinal fine-tuning seat 22 moves along the lifting fine-tuning seat... The movement of the top mating block 23 along the Y-axis gives it the freedom to move. The initial positioning of the top mating block 23 allows the small-diameter end of the mating cone 25 to be smoothly inserted into the mating hole 24. Then, the top mating block 23 continues to move towards the spray arm 1, i.e., towards the Y-axis. Under the action of the conical surface of the mating cone 25, the lifting fine-tuning seat 21 and the longitudinal fine-tuning seat 22 can move adaptively, allowing the mating cone 25 to be fully fitted into the mating hole 24. When the mating cone 25 acts on the detection shaft of the pressure sensor 44, the pressure sensor 44 will feedback a pressure signal, indicating that the mating cone 25 is fully fitted into the mating hole 24, and the cylindrical mating body 55 is partially fitted into the mating hole 24. Finally, the locking block 45 moves to press and compress the cylindrical mating body 55.Thus, through the action of the two locking blocks 45, the spraying arm 1 is confined within the docking hole 24, achieving a high-strength connection between the spraying arm 1 and the docking seat 14, ensuring that the position of the spraying arm 1 will not shift or fall off during the spraying process.

[0024] Example 6 During the spraying process, the atomizing nozzle 2 needs to be always directly facing the inner bottom wall of the pipe. Since the spraying arm 1 and the docking seat 14 are flexibly connected, the position of the spraying arm 1 changes when the three-jaw positioning plate 9 is removed, causing the atomizing nozzle 2 to be unable to be directly facing the inner bottom wall of the pipe. Therefore, based on Embodiment 5, as follows... Figures 1 to 7As shown, a sliding shaft 26 is fixed to the bottom of the lifting fine-tuning seat 21. A fine-tuning cavity 27 is provided inside the docking base plate 20. The bottom of the sliding shaft 26 passes through the fine-tuning cavity 27 and is connected to a first spring 28. The first spring 28 is connected to the inner bottom wall of the docking base plate 20. A rectangular groove 29 is opened on the top surface of the lifting fine-tuning seat 21. Two longitudinal sliders 30 are fixed to the bottom of the longitudinal fine-tuning seat 22. The longitudinal sliders 30 slide and fit into the rectangular groove 29. The longitudinal sliders 30 contact the inner side wall of the rectangular groove 29. A second spring 31 is connected to both ends of the longitudinal fine-tuning seat 22 in its sliding direction. The second spring 31 is connected to the lifting fine-tuning seat 21. Clamping assemblies are provided on the two symmetrical side walls of the docking base plate 20. The clamping assemblies include clamping cylinders 54 and clamping blocks 60. The cylinder body of cylinder 54 is horizontally mounted on the docking base plate 20. The telescopic shaft of clamping cylinder 54 passes through the fine-tuning cavity 27 and is connected to clamping block 60. Sliding shaft 26 is located on the moving path of clamping block 60. A longitudinal fine-tuning locking mechanism is provided on lifting fine-tuning seat 21. The longitudinal fine-tuning locking mechanism includes locking base plate 32 and locking slide 33. Locking base plate 32 is slidably disposed between two longitudinal sliders 30. The moving direction of locking base plate 32 is perpendicular to the spraying moving direction of spraying arm 1. Each longitudinal slider 30 is provided with a locking slide 33. The moving direction of locking slide 33 is perpendicular to the moving direction of locking base plate 32, and is used to press the longitudinal slider 30 against the side wall of rectangular groove 29. The longitudinal fine-tuning locking mechanism also includes locking shaft 34 and locking cylinder 35. A guide groove 36 is formed through the locking slide 33 along its thickness direction, extending towards the moving direction of the longitudinal fine-tuning seat 22. A guide shaft 37 is fitted inside the guide groove 36 and is fixed to the locking base plate 32. A locking shaft 34 is rotatably mounted on the lifting fine-tuning seat 21. One end of the locking shaft 34 extends into a rectangular groove 29 and is connected to a cam 38. The cam 38 contacts one end of the locking base plate 32, and the other end of the locking base plate 32 is connected to a third spring 40. The other end of the locking shaft 34 extends from the top of the lifting fine-tuning seat 21 and is connected to a drive disc 39. The cylinder body of the locking cylinder 35 is hinged to the lifting fine-tuning seat 21, and the telescopic shaft of the locking cylinder 35 is eccentrically hinged to the drive disc 39. Under normal conditions, the locking slide 33 is not compressed. The longitudinal slider 30 allows movement within the rectangular groove 29. The second spring 31 maintains the stability of the longitudinal fine-tuning seat 22. Similarly, the clamping block 60 is separated from the sliding shaft 26, allowing the lifting fine-tuning seat 21 to move up and down. The first spring 28 maintains the stability of the lifting fine-tuning seat 21. When the top docking block 23 docks with the docking cone 25, the small-diameter end of the docking cone 25 inserts into the docking hole 24. Guided by the cone surface, the longitudinal slider 30 moves, deforming the second spring 31, allowing the longitudinal fine-tuning seat 22 to adaptively perform positional fine-tuning. Simultaneously, the sliding shaft 26 moves, deforming the first spring 28, allowing the lifting fine-tuning seat 21 to adaptively perform positional fine-tuning. When the docking cone 25 is fully fitted into the docking hole 24...The clamping cylinder 54 drives the clamping block 60 to move closer to the sliding shaft 26, clamping the sliding shaft 26 with the two clamping blocks 60, thereby locking the position of the lifting fine-tuning seat 21. Simultaneously, the locking cylinder 35 drives the drive disc 39 to deflect, causing the drive disc 39 to drive the cam 38 to deflect via the locking shaft 34. The cam 38 then drives the locking base plate 32 to move, which in turn drives the guide shaft 37 to move. Since the locking slide 33 can only move closer to or further away from the longitudinal slider 30, under the action of the guide groove 36 and the guide shaft 37, the locking base plate 32 pushes the locking slide 33 closer to the longitudinal slider 30, thus pressing the longitudinal slider 30 against the side wall of the lifting fine-tuning seat 21, thereby achieving… The locking longitudinal slider 30 locks the position of the longitudinal fine-tuning seat 22, preventing the lifting fine-tuning seat 21 and the longitudinal fine-tuning seat 22 from automatically resetting after the three-jaw positioning plate 9 is removed. This maintains the fine-tuning state, allowing the atomizing nozzle 2 to precisely align with the inner bottom wall of the pipe. The atomizing nozzle 2 then moves vertically downwards, bringing it close to the inner bottom wall of the pipe for spraying. For pipes of the same model, subsequent spraying does not require repositioning the spraying arm 1. When spraying pipes of different sizes, the locking cylinder 35 resets the cam 38, and the clamping cylinder 54 resets the clamping block 60, restoring the docking seat 14 to its flexible state, ready for the next docking operation.

[0025] Example 7 Based on Example 6, such as Figures 1 to 7As shown, the shaft locking mechanism also includes a main shaft 46 and a shaft locking cylinder 47. Each locking block 45 is equipped with a main shaft 46. The main shaft 46 is rotatably connected to the top docking block 23. One end of the main shaft 46 passes into the locking cavity 48 and is connected to a locking cam 49. The other end of the main shaft 46 passes out from the top of the top docking block 23 and is connected to a gear 50. The gears 50 connected to the two main shafts 46 mesh with each other. A locking disc 51 is connected to one of the main shafts 46. The cylinder body of the shaft locking cylinder 47 is hinged to the top docking block 23. The telescopic shaft of the shaft locking cylinder 47 is eccentrically hinged to the locking disc 51. A spring disc 52 is connected to the end of the locking block 45 away from the docking hole 24. A fourth spring 53 is connected to the spring disc 52 and is connected to the locking cavity 48. On the step formed by the part, the locking cylinder 47 drives the locking disc 51 to deflect, causing the corresponding main shaft 46 to deflect. The main shaft 46 drives another main shaft 46 to rotate through the meshing of two gears 50, so that the two main shafts 46 can synchronously drive the locking cam 49 on them to deflect, so that the locking cam 49 presses the locking block 45 into the docking hole 24, so that the locking block 45 abuts against the cylindrical docking body 55, completing the locking of the spraying arm 1, so that the multi-degree-of-freedom drive device can stably drive the spraying arm 1 to move. At this time, the fourth spring 53 is in a compressed state. When it is necessary to remove the spraying arm 1, the locking cylinder 47 drives the locking disc 51 to reverse and reset, so that the locking cam 49 is reset, and the locking block 45 is reset under the action of the fourth spring 53, so that the spraying arm 1 can be removed smoothly.

[0026] Example 8 Based on Example 7, such as Figures 1 to 7 As shown, the roller frame includes a fixed roller base 61, a fixed roller frame 62, and a sliding roller frame 63. The fixed roller frame 62 is fixed to the top surface of the fixed roller base 61, and the sliding roller frame 63 is slidably mounted on the top surface of the fixed roller base 61. The sliding roller frame 63 moves closer to or away from the fixed roller base 61. Two sets of roller drive assemblies are respectively arranged opposite to each other on the fixed roller frame 62 and the sliding roller frame 63. Each roller drive assembly includes a roller seat 64 and a roller 65. A bidirectional threaded screw 66 is rotatably mounted on both the fixed roller frame 62 and the sliding roller frame 63. The roller seat 64 is threaded onto the double-threaded screw 66, and the threads of the two roller seats 64 are in opposite directions. Rollers 65 are rotatably mounted on the roller seats 64. The double-threaded screw 66 is driven by a motor and can adjust the distance between the two sets of roller drive components to adapt to pipes of different diameters. The distance between the sliding roller frame 63 and the fixed roller frame 62 can be adjusted by moving the sliding roller frame 63 to adapt to pipes of different lengths, giving the roller frame a wide range of applications. It should be noted that the specific structure of the roller drive component is existing technology and will not be described in detail.

Claims

1. A pipe inner wall spraying robot, characterized in that, The system includes a spray arm (1), on which atomizing nozzles (2), a contact coating assembly, and a combined drying mechanism are sequentially arranged along its length. The contact coating assembly includes an arc-shaped rod (3) and an arc-shaped coating roller (4). The arc-shaped rod (3) is fixed on the spray arm (1), and the arc-shaped coating roller (4) is movably mounted on the arc-shaped rod (3). The combined drying mechanism includes an electric heating plate (5) and a hot air curing plate (6) fixedly installed on the spray arm (1). The electric heating plate (5) is located between the hot air curing plate (6) and the contact coating assembly. In the middle, the electric heating plate (5) is provided with multiple electric heating wires, the hot air curing plate (6) is provided with a hot air cavity (7), the bottom of the hot air curing plate (6) is provided with several hot air holes (8), the hot air holes (8) are connected to the hot air cavity (7), the pipe is equipped with a roller frame, the spraying arm (1) moves along the axial direction of the pipe, so that the atomizing nozzle (2) is directed toward the inner bottom wall of the pipe for linear spraying operation, and then the roller frame drives the pipe to rotate so that the unsprayed area enters the spraying range of the atomizing nozzle (2), so that the spraying position of the pipe is directly below the atomizing nozzle (2) each time.

2. The pipe inner wall spraying robot according to claim 1, characterized in that, It also includes a three-jaw positioning disk (9), which has a positioning groove (16) extending through its own axis. The spraying arm (1) slides and adapts to the positioning groove (16). The three-jaw positioning disk (9) is provided with three sets of positioning claws (15). The three sets of positioning claws (15) are evenly distributed around the circumference of the positioning groove (16). The positioning claws (15) have a degree of freedom to move radially along the positioning groove (16). The end of the spraying arm (1) away from the atomizing nozzle (2) is connected to a multi-degree-of-freedom driving device. The multi-degree-of-freedom driving device is used to enable the spraying arm (1) to have a degree of freedom of movement along the X, Y, and Z axes in the spatial coordinate system.

3. The pipe inner wall spraying robot according to claim 2, characterized in that, The multi-degree-of-freedom drive device includes a movable base (10), a lifting seat (11), a transverse slide (12), a longitudinal slide (13), and a docking seat (14). The bottom of the movable base (10) is equipped with multiple casters, and the top of the movable base (10) is vertically equipped with multiple first cylinders (17). The lifting seat (11) is mounted on the telescopic shaft of the first cylinders (17). The lifting seat (11) is equipped with a first linear drive module (18). The transverse slide (12) is mounted on the slide of the first linear drive module (18). The transverse slide (12) is mounted with a second linear drive module (19). The longitudinal slide (13) is mounted on the slide of the second linear drive module (19). The moving direction of the transverse slide (12) is perpendicular to the moving direction of the longitudinal slide (13). The docking seat (14) is mounted on the longitudinal slide (13). The spraying arm (1) is connected to the docking seat (14).

4. A pipe inner wall spraying robot according to claim 3, characterized in that, The docking seat (14) includes a docking base plate (20), a lifting fine-tuning seat (21), a longitudinal fine-tuning seat (22), and a top docking block (23). The docking base plate (20) is fixed on the longitudinal slide (13). The lifting fine-tuning seat (21) is mounted on the docking base plate (20). The lifting fine-tuning seat (21) has a degree of freedom to move in the vertical direction. The longitudinal fine-tuning seat (22) is slidably disposed on the top surface of the lifting fine-tuning seat (21). The moving direction of the longitudinal fine-tuning seat (22) is perpendicular to the spraying moving direction of the spraying arm (1). The top docking block (23) is fixed on the top surface of the longitudinal fine-tuning seat (22). The top docking block (23) has a docking hole (24) on the side of the top docking block (23) near the spraying arm (1). A docking cone rod (25) is coaxially fixed at one end of the spraying arm (1) near the top docking block (23). The diameter of the docking cone rod (25) gradually increases along the end near the spraying arm (1).

5. A pipe inner wall spraying robot according to claim 4, characterized in that, The bottom of the lifting fine-tuning seat (21) is fixed with a sliding shaft (26). The docking base plate (20) is provided with a fine-tuning cavity (27). The bottom of the sliding shaft (26) passes through the fine-tuning cavity (27) and is connected to a first spring (28). The first spring (28) is connected to the inner bottom wall of the docking base plate (20). The top surface of the lifting fine-tuning seat (21) is provided with a rectangular groove (29). The bottom of the longitudinal fine-tuning seat (22) is fixed with two longitudinal sliders (30). The longitudinal sliders (30) slide and adapt to the rectangular groove (29). The longitudinal sliders (30) contact the inner side wall of the rectangular groove (29). The longitudinal fine-tuning seat (22) is connected to a second spring (31) at both ends of its sliding direction. The second springs (31) are connected to the lifting fine-tuning seat (21).

6. A pipe inner wall spraying robot according to claim 5, characterized in that, The two symmetrical sidewalls of the docking substrate (20) are provided with clamping assemblies. The clamping assemblies include clamping cylinders (54) and clamping blocks (60). The cylinder body of the clamping cylinder (54) is horizontally mounted on the docking substrate (20). The telescopic shaft of the clamping cylinder (54) passes through the fine-tuning cavity (27) and is connected to the clamping block (60). The sliding shaft (26) is located on the moving path of the clamping block (60).

7. A pipe inner wall spraying robot according to claim 5, characterized in that, The lifting fine-tuning seat (21) is provided with a longitudinal fine-tuning locking mechanism, which includes a locking base plate (32) and a locking slide (33). The locking base plate (32) is slidably disposed between the two longitudinal sliders (30). The moving direction of the locking base plate (32) is perpendicular to the spraying moving direction of the spraying arm (1). Each longitudinal slider (30) is provided with a locking slide (33). The moving direction of the locking slide (33) is perpendicular to the moving direction of the locking base plate (32), and is used to press the longitudinal slider (30) against the side wall of the rectangular groove (29).

8. A pipe inner wall spraying robot according to claim 7, characterized in that, The longitudinal fine-tuning locking mechanism further includes a locking shaft (34) and a locking cylinder (35). A guide groove (36) is provided through the locking slide (33) along its own thickness direction. The guide groove (36) extends toward the moving direction of the longitudinal fine-tuning seat (22). A guide shaft (37) is adapted in the guide groove (36). The guide shaft (37) is fixed on the locking base plate (32). The locking shaft (34) is rotatably mounted on the lifting fine-tuning seat (21). 4) One end extends into the rectangular groove (29) and is connected to a cam (38). The cam (38) contacts one end of the locking base plate (32). The other end of the locking base plate (32) is connected to a third spring (40). The other end of the locking shaft (34) extends out from the top of the lifting fine adjustment seat (21) and is connected to a drive disk (39). The cylinder body of the locking cylinder (35) is hinged to the lifting fine adjustment seat (21). The telescopic shaft of the locking cylinder (35) is eccentrically hinged to the drive disk (39).

9. A pipe inner wall spraying robot according to claim 4, characterized in that, The small-diameter end of the docking cone rod (25) is provided with a positioning base hole (41), an infrared emitter (42) is installed in the positioning base hole (41), a detection cavity (43) is provided in the top docking block (23), a pressure sensor (44) is installed in the detection cavity (43), the pressure detection shaft of the pressure sensor (44) extends into the docking hole (24), a shaft locking mechanism is installed on the top docking block (23), the shaft locking mechanism includes a locking block (45), two locking cavities (48) are provided in the top docking block (23), the two locking cavities (48) are symmetrically arranged about the docking hole (24), the locking cavities (48) are connected to the docking hole (24), and the locking block (45) is slidably arranged in the locking cavity (48).

10. A pipe inner wall spraying robot according to claim 9, characterized in that, The shaft locking mechanism further includes a main shaft (46) and a shaft locking cylinder (47). Each locking block (45) is equipped with a main shaft (46). The main shaft (46) is rotatably connected to the top docking block (23). One end of the main shaft (46) passes into the locking cavity (48) and is connected to a locking cam (49). The other end of the main shaft (46) passes out from the top of the top docking block (23) and is connected to a gear (50). The gears (50) connected to the two main shafts (46) mesh with each other. The main shaft (46) is connected to a locking disc (51), the cylinder body of the shaft locking cylinder (47) is hinged to the top docking block (23), the telescopic shaft of the shaft locking cylinder (47) is eccentrically hinged to the locking disc (51), the end of the locking block (45) away from the docking hole (24) is connected to a spring disc (52), the spring disc (52) is connected to a fourth spring (53), and the fourth spring (53) is connected to a step formed inside the locking cavity (48).

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