In-pipe sand blasting equipment

Abstract

The utility model relates to in-pipe sand blasting equipment. The in-pipe sand blasting equipment comprises a moving platform car capable of moving in a steel pipe to be subjected to sand blasting; the plurality of sand blasting guns are used for blasting sand grains; the sand blasting gun is mounted on any one of the mechanical arms, and the multiple mechanical arms are connected to the motion platform car and can move along with the motion platform car; the multiple mechanical arms synchronously rotate around a set rotating shaft so as to drive the sand blasting guns connected with the mechanical arms to move and change the positions of the sand blasting guns in the steel pipe. According to the in-pipe sand blasting equipment, automatic sand blasting operation can be achieved on the inner wall face of the steel pipe, manual operation of a sand blasting gun is not needed, the sand blasting efficiency is improved, the problem of uneven sand blasting can be solved, the stability of the sand blasting effect of the inner wall face of the steel pipe is good, and the service life of the steel pipe is prolonged. And the workers can be far away from the severe environment with closed space and more dust in the sand blasting room, so that the health damage to the workers caused by the severe environment is reduced.

Description

Technical Field

[0001] This application relates to the technical field of sandblasting, and particularly to an internal pipe sandblasting device. Background Art

[0002] When performing sandblasting operations on the inner wall surface of a steel pipe, compressed air is mainly used to drive fine sand grains to perform high-speed impact and grinding movements on the inner wall surface of the steel pipe, so that the fine sand can remove impurities such as the oxide layer on the inner wall surface of the steel pipe, thereby making the cleanliness and roughness of the inner wall surface of the steel pipe meet the requirements, so that the coating sprayed on the inner wall surface of the steel pipe during subsequent spraying operations can stably adhere to the inner wall surface of the steel pipe.

[0003] Currently, for sandblasting operations on the inner wall surface of steel pipes, most of them are carried out manually by holding a sandblasting gun in a sandblasting room. However, this operation method not only has the problem of low sandblasting efficiency, but also has the problem of poor stability of the surface sandblasting effect on the inner wall surface of the steel pipe due to uneven sandblasting. Summary of the Utility Model

[0004] Based on this, it is necessary to provide an internal pipe sandblasting device with high sandblasting efficiency and good stability of the sandblasting effect on the inner surface of the pipe.

[0005] An internal pipe sandblasting device includes:

[0006] A moving platform vehicle capable of moving inside the steel pipe to be sandblasted;

[0007] Multiple sandblasting guns for ejecting sand grains; and

[0008] Multiple robotic arms, with a sandblasting gun installed on each robotic arm. The multiple robotic arms are all connected to the moving platform vehicle and can move with the moving platform vehicle; the multiple robotic arms rotate synchronously around a predetermined rotation axis to drive the connected sandblasting guns to move and change the positions of the sandblasting guns inside the steel pipe.

[0009] In one embodiment, the predetermined rotation axis coincides with the center line of the rotation of the steel pipe.

[0010] In one embodiment, the internal pipe sandblasting device further includes a lifting platform, which is connected between the moving platform vehicle and the multiple robotic arms and drives the multiple robotic arms to lift relative to the moving platform vehicle.

[0011] In one embodiment, the lifting platform includes a lifting component and a lifting platform plate. The lifting component is connected to the lifting platform plate to drive the lifting platform plate to lift; the multiple robotic arms are all connected to the lifting platform plate.

[0012] In one embodiment, the internal pipe sandblasting device includes a fixed seat connected to the moving platform vehicle and a driving member mounted on the fixed seat; the driving member is connected to a plurality of the robotic arms and can drive the plurality of robotic arms to rotate around the established rotation axis.

[0013] In one embodiment, the driving member includes a rotation driving module and a rotating disk connected to the rotation driving module. The rotating disk rotates around the established rotation axis under the drive of the rotation driving module. A plurality of the robotic arms are all connected to the rotating disk and are evenly distributed along the rotation direction of the rotating disk.

[0014] In one embodiment, a plurality of the sandblasting guns are mounted on the robotic arms.

[0015] In one embodiment, the moving platform vehicle includes a frame support plate, traveling wheels, and a traveling driving module. A plurality of the robotic arms are connected to the frame support plate. The traveling driving module is connected between the traveling wheels and the frame support plate and drives the traveling wheels to move along the direction of the center line of the steel pipe's rotation; and / or, the internal pipe sandblasting device includes a control module for receiving control signals, and the moving platform vehicle, the sandblasting guns, and the robotic arms are all connected to the control module.

[0016] In one embodiment, the robotic arm includes a boom and a movable assembly rotatably connected to the boom around a first axis. The sandblasting gun is connected to the movable assembly. The booms of the plurality of robotic arms are connected to each other and are evenly distributed on the same circumference centered on the established rotation axis; the first axis is parallel to the established rotation axis.

[0017] In one embodiment, the movable assembly includes a second arm portion, a third arm portion, and a fourth arm portion that are sequentially rotatably connected. The second arm portion is rotatably connected to the boom around the first axis. The third arm portion rotates relative to the second arm portion around a second axis. The fourth arm portion rotates relative to the third arm portion around a third axis. The first axis, the second axis, and the third axis are perpendicular to each other in pairs; the sandblasting gun is mounted on the fourth arm portion.

[0018] In the above-mentioned internal pipe sandblasting equipment, when sandblasting the inner wall surface of the steel pipe, the moving platform vehicle can automatically travel inside the steel pipe, thereby driving multiple robotic arms and multiple sandblasting guns to move inside the steel pipe and change positions. Furthermore, the sandblasting guns can perform sandblasting operations on different positions of the inner wall surface of the steel pipe. Further, the sandblasting guns are installed on the robotic arms. By synchronously rotating multiple robotic arms around a predetermined rotation axis, multiple sandblasting guns cooperate to perform large-area sandblasting operations on the inner wall surface of the steel pipe to improve the sandblasting efficiency. Moreover, the sandblasting guns can perform sandblasting while maintaining a constant distance and attitude from the inner wall surface of the steel pipe, thereby achieving uniform sandblasting operations on the inner wall surface of the steel pipe, improving the stability of the sandblasting effect on the inner wall surface of the steel pipe, and making the surface quality of the inner wall surface of the steel pipe consistent. Thus, the internal pipe sandblasting equipment of the present application can achieve automated sandblasting operations on the inner wall surface of the steel pipe without manual operation of the sandblasting guns, thereby not only improving the sandblasting efficiency but also overcoming the problem of uneven sandblasting, resulting in a better stability of the sandblasting effect on the inner wall surface of the steel pipe. In addition, the use of the internal pipe sandblasting equipment can also keep workers away from the harsh environment of the closed and dusty space in the sandblasting room, thereby reducing the health damage caused to workers by the harsh environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic structural view of an internal pipe sandblasting equipment according to an embodiment of the present application from a perspective;

[0020] Figure 2 is Figure 1 a schematic structural view of the structure formed by the moving platform vehicle and the lifting platform in the shown internal pipe sandblasting equipment from a perspective;

[0021] Figure 3 is Figure 1 a schematic structural view of the structure formed by the moving platform vehicle, the lifting platform, the fixed seat and the driving member in the shown internal pipe sandblasting equipment from a perspective;

[0022] Figure 4 is Figure 1 an enlarged schematic structural view of the fixed seat, the driving member, the double robotic arms and the sandblasting guns in the shown internal pipe sandblasting equipment;

[0023] Figure 5 is Figure 4 a schematic structural view of another posture of the double robotic arms in the shown structure;

[0024] Figure 6 is Figure 4 a schematic structural view of yet another posture of the double robotic arms in the shown structure;

[0025] Figure 7 is Figure 4 a schematic structural view of the structure after replacing the double robotic arms with triple robotic arms in the shown structure;

[0026] Figure 8 For Figure 7 the structural schematic diagram of another posture of the three robotic arms in the structure shown;

[0027] Figure 9 For Figure 1 the module block diagram of the in-pipe sandblasting equipment shown;

[0028] Description of the reference numerals:

[0029] 10. In-pipe sandblasting equipment; 20. Steel pipe; 100. Mobile platform vehicle; 110. Frame support plate; 120. Traveling assembly; 121. Traveling wheels; 122. Traveling drive module; 200. Sandblasting gun; 300. Robotic arm; 310. Boom; 320. Movable assembly; 321. Second arm part; 322. Third arm part; 323. Fourth arm part; 330. First axis; 340. Second axis; 350. Third axis; 400. Lifting platform; 410. Lifting assembly; 420. Lifting platform plate; 500. Fixed seat; 600. Driving part; 610. Rotary drive module; 620. Rotary disk; 700. Control module; 800. Predetermined rotation axis. Specific embodiments

[0030] To make the above objects, features, and advantages of the present application more apparent and understandable, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0031] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0032] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of this application, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0033] In this application, unless otherwise clearly specified and defined, terms such as "installed", "connected", "linked", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0034] In this application, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or diagonally above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or diagonally below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0035] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation.

[0036] Combined with Figures 1 to 9As shown in the figure, the present application protects an in-pipe sandblasting device 10, which can be used for sandblasting the inner wall surface of a steel pipe 20. The in-pipe sandblasting device 10 includes a moving platform vehicle 100, a plurality of sandblasting guns 200, and a plurality of robotic arms 300. The moving platform vehicle 100 can move inside the steel pipe 20 to be sandblasted. The sandblasting gun 200 is used to eject sand grains. Among the plurality of robotic arms 300, a sandblasting gun 200 is installed on any one of the robotic arms 300. The plurality of robotic arms 300 are all connected to the moving platform vehicle 100 and can move with the moving platform vehicle 100. The plurality of robotic arms 300 rotate synchronously around a predetermined rotation axis 800 to drive the connected sandblasting gun 200 to move and change the position of the sandblasting gun 200 inside the steel pipe 20.

[0037] When sandblasting the inner wall surface of the steel pipe 20, the moving platform vehicle 100 can automatically travel inside the steel pipe 20, thereby driving the plurality of robotic arms 300 and the plurality of sandblasting guns 200 to move inside the steel pipe 20 and change positions. Furthermore, the sandblasting gun 200 can perform sandblasting operations on different positions of the inner wall surface of the steel pipe 20. Further, the sandblasting gun 200 is installed on the robotic arm 300. By synchronously rotating the plurality of robotic arms 300 around the predetermined rotation axis 800, the plurality of sandblasting guns 200 cooperate to perform large-area sandblasting operations on the inner wall surface of the steel pipe 20 to improve the sandblasting efficiency. Moreover, the sandblasting gun 200 can perform sandblasting while maintaining a constant distance and posture from the inner wall surface of the steel pipe 20, so as to achieve uniform sandblasting operations on the inner wall surface of the steel pipe 20, improve the stability of the sandblasting effect on the inner wall surface of the steel pipe 20, and make the surface quality of the inner wall surface of the steel pipe 20 consistent. In this way, the in-pipe sandblasting device 10 of the present application can realize automatic sandblasting operations on the inner wall surface of the steel pipe 20 without manual operation of the sandblasting gun 200. Thus, not only the sandblasting efficiency is improved, but also the problem of uneven sandblasting can be overcome, and the stability of the sandblasting effect on the inner wall surface of the steel pipe 20 is better. In addition, the use of the in-pipe sandblasting device 10 can also keep workers away from the harsh environment with a closed space and large dust in the sandblasting room, thereby reducing the health damage caused to workers by the harsh environment.

[0038] Combined Figures 1 to 3 As shown in the figure, specifically in the present application, the moving platform vehicle 100 includes a frame support plate 110, a walking wheel 121, and a walking drive module 122. The plurality of robotic arms 300 are connected to the frame support plate 110. The walking drive module 122 is connected between the walking wheel 121 and the frame support plate 110 and drives the walking wheel 121 to travel and turn along the center line of the rotation of the steel pipe 20. The walking wheel 121 is in rolling contact with the steel pipe 20, so as to have a small frictional force with the inner wall surface of the steel pipe 20 to reduce damage to the inner wall surface of the steel pipe 20. The walking drive module 122 is a power device including structural components such as a drive motor, gears, and transmission shafts and capable of outputting rotational motion to the walking wheel 121.

[0039] It can be understood that the traveling wheels 121 and the traveling drive module 122 together constitute the traveling assembly 120. There are multiple traveling assemblies 120, and the multiple traveling assemblies 120 cooperate with each other to drive the frame support plate 110 to move within the steel pipe 20. It can be understood that the frame support plate 110 provides installation positions for multiple robotic arms 300. The multiple traveling assemblies 120 are supported between the steel pipe 20 and the frame support plate 110 to provide stable support for the frame support plate 110. At the same time, the multiple traveling assemblies 120 serve as a power source to provide a driving force for the movement of the frame support plate 110 relative to the steel pipe 20. Specifically, in this application, there are four traveling assemblies 120, that is, there are four traveling wheels 121 and four traveling drive modules 122 respectively. In other embodiments, the number of the traveling assemblies 120 can also be changed, as long as it can ensure stable support for the frame support plate 110.

[0040] Specifically, in this application, the established rotation axis 800 coincides with the rotation center line of the steel pipe 20. Such a setting can ensure that during the rotation of any robotic arm 300, the distance between the sandblasting gun 200 mounted on it and the inner wall surface of the steel pipe 20 remains unchanged during the movement, so as to ensure that the sandblasting gun 200 uniformly sands the inner wall surface of the steel pipe 20.

[0041] Continue to refer to Figures 1 to 3 , specifically, in this application, the in-pipe sandblasting device 10 further includes a lifting platform 400. The lifting platform 400 is connected between the moving platform vehicle 100 and the robotic arm 300 and drives the multiple robotic arms 300 to lift relative to the moving platform vehicle 100. By providing the lifting platform 400 between the robotic arm 300 and the moving platform vehicle 100, the multiple robotic arms 300 can be lifted synchronously to ensure that the established rotation axis 800 of the multiple robotic arms 300 coincides with the rotation center line of the steel pipe 20. Moreover, it also helps to meet the sandblasting operation requirements for the inner wall surfaces of steel pipes 20 with various different diameter sizes, and is also applicable to the sandblasting operation requirements for steel pipes 20 with a conical inner wall surface. It should be noted that when sandblasting the inner wall surface of the steel pipe 20 with a conical inner wall surface, as the moving platform vehicle 100 travels along the rotation center line of the steel pipe 20, the robotic arm 300 will adjust its position and posture in real time to ensure that the sandblasting gun 200 sands the inner wall surface of the steel pipe 20 at a constant distance and posture to ensure the sandblasting effect.

[0042] Specifically, the lifting platform 400 includes a lifting assembly 410 and a lifting platform plate 420, and the lifting assembly 410 is connected to the lifting platform plate 420 to drive the lifting platform plate 420 to rise and fall. Multiple mechanical arms 300 are connected to the lifting platform plate 420. It can be understood that the lifting assembly 410 is supported between the frame support plate 110 and the lifting platform plate 420, so that the lifting platform plate 420 can be driven to approach or move away from the frame support plate 110, so that the multiple mechanical arms 300 connected to the lifting platform plate 420 are lifted and lowered with the lifting platform plate 420. The lifting assembly 410, as a power source for lifting the lifting platform plate 420, can output the lifting motion to the lifting platform plate 420 by cooperating with a hydraulic cylinder and a scissor frame, or can also output the lifting motion to the lifting platform plate 420 by cooperating with a driving motor, a lead screw and a slider.

[0043] Combination Figure 1 , Figures 3 to 8 As shown, in the present application, the in-pipe sandblasting equipment 10 includes a fixed seat 500 connected to the moving platform vehicle 100 and a driving member 600 installed on the fixed seat 500. The driving member 600 is connected to a plurality of mechanical arms 300 and can drive the plurality of mechanical arms 300 to rotate around a predetermined rotation axis 800. It can be understood that the driving member 600 can drive the plurality of mechanical arms 300 to rotate around a predetermined rotation axis 800, so that the plurality of sandblasting guns 200 connected to the plurality of mechanical arms 300 can perform scanning sandblasting operations on the inner wall surface of the steel pipe 20, thereby improving the sandblasting efficiency and the stability of the sandblasting effect.

[0044] Specifically, the driving member 600 includes a rotation driving module 610 and a rotating disk 620 connected to the rotation driving module 610. The rotating disk 620 rotates around a predetermined rotation axis 800 under the drive of the rotation driving module 610. The plurality of mechanical arms 300 are all connected to the rotating disk 620 and are evenly distributed along the rotation direction of the rotating disk 620. By providing the rotating disk 620 and making the plurality of mechanical arms 300 stably connected to the rotating disk 620, the rotation of the rotating disk 620 can drive the plurality of mechanical arms 300 to rotate synchronously. In addition, by evenly distributing multiple robotic arms 300 in the rotation direction of the rotating disk 620, the rotating disk 620 can achieve full coverage of the 360° circumferential surface of the inner wall of the steel pipe by multiple robotic arms 300 without having to complete a full rotation around the predetermined rotation axis 800. Combined with the movement of the motion platform vehicle 100 along the rotation centerline direction of the steel pipe 20, the automated sandblasting operation of the entire inner wall of the steel pipe 20 can be achieved. Moreover, during the sandblasting operation, the entanglement of the sandblasting hose during the sandblasting process and the sandblasting failure caused thereby can be effectively prevented. Specifically, the rotation drive module 610 can be a drive motor. The fixed seat 500 is fixedly mounted on the lifting platform plate 420, and the rotation drive module 610 is built into the fixed seat 500.

[0045] In the present application, two or three or four or other equal numbers of robotic arms 300 can be connected in the circumferential direction of the rotating disk 620. When the number of robotic arms 300 is two (as shown in Figures 4 to 6 ), the rotating disk 620 rotates ±180° to enable the two robotic arms 300 to achieve full coverage of the 360° circumferential surface of the inner wall of the steel pipe 20. When the number of robotic arms 300 is three (as shown in Figure 7 , Figure 8 ), the rotating disk 620 rotates ±120° to enable the three robotic arms 300 to achieve full coverage of the 360° circumferential surface of the inner wall of the steel pipe 20. When the number of robotic arms 300 is n, the rotating disk 620 rotates ±360 / n degrees, and then the n robotic arms 300 can all achieve full coverage of the 360° circumferential range of the inner wall of the steel pipe 20.

[0046] In the present application, multiple sandblasting guns 200 are installed on the robotic arm 300. By installing multiple sandblasting guns 200 on the robotic arm 300, the sandblasting efficiency can be improved, and the sandblasting process is stable with better rust removal effect. Specifically, in the present application, two robotic arms 300 are installed on the rotating disk 620, and two sandblasting guns 200 are installed on one robotic arm 300. In other embodiments, the number of robotic arms 300 can also be more than two, and the number of sandblasting guns 200 installed on any one robotic arm 300 can also be more than two.

[0047] As shown in Figures 4 to 8 , in some embodiments, the robotic arm 300 includes a boom 310 and a movable component 320 rotatably connected to the boom 310 around a first axis 330. The sandblasting gun 200 is connected to the movable component 320. The booms 310 of multiple robotic arms 300 are connected to each other and are evenly distributed on the same circumference centered on a predetermined rotation axis 800. The first axis 330 is parallel to the predetermined rotation axis 800.

[0048] Combined with Figures 4 to 6 shown, in the present application, there are two robotic arms 300, and the booms 310 of the two robotic arms 300 are arranged at an included angle of 180° centered on the predetermined rotation axis 800. Such an arrangement can enable the boom 310 in any one robotic arm 300 to rotate within an angle range of ±180°, so that the two robotic arms 300 can achieve full coverage of the 360° circumferential surface of the inner wall of the steel pipe 20. When the in-pipe sandblasting device 10 of the present application performs sandblasting on the steel pipe 20, it needs to be integrally placed inside the steel pipe 20, and then the lifting platform 400 is used to drive the robotic arm 300 to move up and down along the Z axis, adjust the predetermined rotation axis 800 of the two robotic arms 300 to coincide with the rotation center line of the steel pipe 20, and then adjust the movable component 320 to rotate relative to the boom 310 around the first axis 330, so as to change the position and attitude of the movable component 320 relative to the boom 310 to meet the sandblasting requirements for the inner wall surfaces of steel pipes 20 with different pipe diameters.

[0049] It should be noted that during the continuous sandblasting operation on the inner wall of the steel pipe 20 with equal diameter, the position and attitude of the movable component 320 relative to the boom 310 need to be kept fixed, that is, the movable component 320 does not rotate relative to the boom 310 around the first axis 330, and the movable component 320 swings ±180° with the boom 310 around the established rotation axis 800, and at the same time moves along the direction of the rotation center line of the steel pipe 20 with the moving platform vehicle 100, so as to realize the sandblasting operation on the entire inner wall surface of the steel pipe 20. As Figures 4 to 6 shown are three different postures presented by the movable component 320 relative to the boom 310 under the double robotic arms 300.

[0050] It should be noted that during the sandblasting operation on the steel pipe 20 with a conical inner wall surface, as the moving platform vehicle 100 travels along the direction of the rotation center line of the steel pipe 20, the lifting platform 400 will drive the robotic arm 300 to lift and lower to maintain the coincidence of the established rotation axis 800 and the rotation center line of the steel pipe 20 in real time. At the same time, the position and attitude of the movable component 320 in the robotic arm 300 will also be adjusted in real time relative to the boom 310 to ensure that the sandblasting gun 200 performs sandblasting at a constant distance and attitude from the inner wall surface of the steel pipe 20, so as to ensure the stability of the sandblasting effect.

[0051] It can be understood that in the present application, the booms 310 of multiple robotic arms 300 are all fixedly connected to the rotating disk 620, and the rotation angle of the boom 310 around the established rotation axis 800 is the rotation angle of the rotating disk 620 around the established rotation axis 800. Specifically, the booms 310 of multiple robotic arms 300 are connected to the rotating disk 620 to form an integral structure. In this way, the rotation drive module 610 only needs to drive the rotating disk 620 to rotate to drive all the booms 310 to rotate, thus avoiding the complex assembly connection operation between the rotating disk 620 and the boom 310 and reducing the structural complexity. As Figure 4 and Figure 5 shown, specifically in the present application, the movable component 320 includes a second arm portion 321, a third arm portion 322, and a fourth arm portion 323 that are sequentially rotationally connected. The second arm portion 321 is rotationally connected to the boom 310 around the first axis 330, the third arm portion 322 rotates relative to the second arm portion 321 around the second axis 340, and the fourth arm portion 323 rotates relative to the third arm portion 322 around the third axis 350. The first axis 330, the second axis 340, and the third axis 350 are perpendicular to each other in pairs. The sandblasting gun 200 is installed on the fourth arm portion 323.

[0052] It can be understood that the boom 310 is rotatably connected to the second arm portion 321, the second arm portion 321 is rotatably connected to the third arm portion 322, and the third arm portion 322 is rotatably connected to the fourth arm portion 323. The rotation axes of the three sets of rotational connection structures are perpendicular to each other pairwise. In this way, during the sandblasting operation, the attitude can be adjusted by the rotation between the arm portions, so that the sandblasting gun 200 always maintains the best sandblasting angle relative to the inner wall surface of the steel pipe 20, resulting in higher sandblasting efficiency and better sandblasting effect. In addition, the rotational connection of the arm portions in the movable assembly 320 and the rotational movement of the boom 310 around the established rotation axis 800 are combined, so that multiple sandblasting guns 200 can cooperate together and the activity range covers any position around the moving platform vehicle 100, thereby realizing a dead-angle-free sandblasting operation on the steel pipe 20. It can be understood that each arm portion of the robotic arm 300 is internally provided with a driving motor to provide a power source for the rotational movement of another arm portion connected thereto.

[0053] Combined Figures 1 to 9 As shown, in the present application, the in-pipe sandblasting device 10 includes a control module 700 for receiving control signals. The moving platform vehicle 100, the sandblasting gun 200, and the robotic arm 300 are all connected to the control module 700. It can be understood that the control signal can be sent by a remote controller (not shown) or a control box. After receiving the control signal, the control module 700 controls the moving platform vehicle 100, the sandblasting gun 200, and the robotic arm 300 to make responses. In an embodiment including a lifting platform 400 and a driving member 600, the control module 700 is also connected to the lifting platform 400 and the driving member 600 to control the lifting platform 400 and the driving member 600 to make responses according to the control signal. It can be understood that workers can control the movement of the moving platform in the in-pipe sandblasting device 10 to move forward or backward or turn, control the start and stop of the sandblasting operation of the sandblasting gun 200, control the movement of the robotic arm 300 to drive the sandblasting gun 200 to change positions, control the lifting of the lifting platform 400, and control the driving member 600 to drive multiple robotic arms 300 to move by operating the remote controller or the control box outside the sandblasting room.

[0054] It can be understood that the control module 700 can be a circuit board electrically connected to each power output device in the moving platform vehicle 100, the robotic arm 300, the lifting platform 400, the driving member 600 and the valve in the sandblasting gun 200, so as to control the actions of each power output device and the valve according to the control signal. Thus, the entire in-pipe sandblasting device 10 can realize a dead-angle-free automatic sandblasting operation on the inner wall surface of the steel pipe 20, greatly improving the sandblasting efficiency.

[0055] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0056] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patented application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. An in-pipe sandblasting device, characterized in that: include: A moving platform car that can move inside the steel pipe to be blasted; a plurality of sandblasting guns for blasting sand particles; and Multiple robotic arms, each of which is equipped with the sandblasting gun, are connected to the moving platform vehicle and can move with the moving platform vehicle; the multiple robotic arms rotate synchronously around a predetermined rotation axis to drive the sandblasting gun connected thereto to move and change the position of the sandblasting gun in the steel pipe.

2. The in-pipe sandblasting equipment according to claim 1, characterized in that: The predetermined rotation axis coincides with the rotation centerline of the steel pipe.

3. The in-pipe sandblasting equipment according to claim 2, characterized in that: The in-pipe sandblasting equipment also includes a lifting platform, which is connected between the motion platform vehicle and the plurality of mechanical arms and drives the plurality of mechanical arms to rise and fall relative to the motion platform vehicle.

4. The in-pipe sandblasting equipment according to claim 3, characterized in that: The lifting platform includes a lifting component and a lifting platform plate. The lifting component is connected to the lifting platform plate to drive the lifting platform plate to rise and fall. The plurality of mechanical arms are all connected to the lifting platform plate.

5. The in-pipe sandblasting equipment according to claim 1, characterized in that: The in-pipe sandblasting equipment includes a fixing seat connected to the moving platform vehicle and a driving member installed on the fixing seat; the driving member is connected to the plurality of mechanical arms and can drive the plurality of mechanical arms to rotate around the predetermined rotation axis.

6. The in-pipe sandblasting equipment according to claim 5, characterized in that: The driving member includes a rotation driving module and a rotating disk connected to the rotation driving module. The rotating disk rotates around the predetermined rotation axis under the drive of the rotation driving module. The plurality of mechanical arms are connected to the rotating disk and are evenly distributed along the rotation direction of the rotating disk.

7. The in-pipe sandblasting equipment according to claim 1, characterized in that: The mechanical arm is equipped with a plurality of the sandblasting guns.

8. The in-pipe sandblasting equipment according to claim 1, characterized in that: The motion platform vehicle includes a frame support plate, walking wheels and a walking drive module, a plurality of the mechanical arms are connected to the frame support plate, the walking drive module is connected between the walking wheels and the frame support plate, and drives the walking wheels to move along the direction of the rotation center line of the steel pipe; and / or, the in-pipe sandblasting equipment includes a control module for receiving a control signal, and the motion platform vehicle, the sandblasting gun and the mechanical arms are all connected to the control module.

9. The in-pipe sandblasting equipment according to any one of claims 1 to 8, characterized in that: The robotic arm includes a main arm and a movable component rotatably connected to the main arm around a first axis, the sandblasting gun is connected to the movable component, the main arms of multiple robotic arms are connected to each other and are evenly distributed on the same circumference centered on the predetermined rotation axis; the first axis is parallel to the predetermined rotation axis.

10. The in-pipe sandblasting equipment according to claim 9, characterized in that: The movable component includes a second arm portion, a third arm portion and a fourth arm portion which are connected to rotate in sequence, the second arm portion is connected to the large arm rotationally around the first axis, the third arm portion rotates relative to the second arm portion around the second axis, the fourth arm portion rotates relative to the third arm portion around the third axis, the first axis, the second axis and the third axis are perpendicular to each other; the sandblasting gun is installed on the fourth arm portion.

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