An internal pipe spraying device

Abstract

The utility model discloses a pipeline inside spraying device, including spraying unit, walking unit and pipeline support unit. Spraying unit rotates through rotary motor drive rotary shaft and nozzle, cooperate the flow groove and pipeline system between rotary casing and rotary shaft, realize coating uniform delivery and all around spraying. Walking unit adopts multi -point support design, is equipped with fixed wheel face and movable wheel face on its walking support, movable wheel face passes through screw rod motor drive bidirectional screw rod, adjusts its walking wheel's interval, makes the device can form the layout of " inside narrow outside wide " in the curve, thereby stable adaptation pipeline curved section, fixed wheel face provides basic support. Pipeline support unit will coating delivery pipe and the sliding friction of pipeline inner wall convert into rolling friction, reduce the drag resistance greatly. The utility model integrates state sensing module and intelligent control module, has realized pipeline inner wall high efficiency, even, stable automatic spraying operation, and effectively solved the difficult problem of curve passability and pipeline drag friction.

Description

Technical Field

[0001] This utility model relates to the field of pipeline maintenance and construction technology, specifically to a device for internal spraying of pipelines. Background Technology

[0002] In shipbuilding, petroleum, chemical, natural gas, municipal water supply, and industrial pipeline systems, corrosion-resistant, wear-resistant, or special functional coatings (such as anti-scaling and anti-static coatings) on the inner walls of pipelines are crucial for ensuring their long-term safe operation. Traditional pipeline inner wall spraying mainly relies on manual operation or simple mechanical assistance.

[0003] When operators manually enter pipelines to spray with handheld spray guns, the limited pipeline diameter, length (which can reach several kilometers), and internal environment (humid, narrow, with residual toxic gases, etc.) result in extremely high labor intensity, slow spraying speed (only tens of meters can be completed per day), and difficulty in controlling the uniformity of coating thickness (local over-thickness or missed areas are common), directly affecting the service life and protective effect of the pipeline. Furthermore, manual entry into pipelines also poses safety risks such as suffocation and contamination.

[0004] While existing pipeline spraying robots can achieve a certain degree of automation, they generally suffer from the following drawbacks: Most devices rely solely on fixed-position wheels, which can easily slip or become suspended when the pipeline has slight ellipticity, weld protrusions, or internal wall deposits, leading to spraying position deviation or even device jamming; the power transmission structure of the rotary spraying mechanism is complex (such as gear meshing or belt drive), and is prone to rotational deviation under complex working conditions within the pipeline, resulting in uneven spraying; in addition, different pipe diameters require replacement of the entire wheel set or adjustment mechanism, making it impossible to adapt to multiple pipe specifications through simple adjustments, resulting in poor versatility; during the spraying process, high-pressure paint needs to be continuously delivered to the spraying unit (usually via a hose connected to an external liquid supply device), but existing devices do not effectively constrain the delivery pipeline, which is usually directly exposed and dragged, contacting and rubbing against the inner wall of the pipeline (especially during long-distance delivery), which not only increases the overall travel resistance of the device (requiring additional power to overcome friction) but may also lead to wear and leakage of the paint pipe. Utility Model Content

[0005] The purpose of this invention is to overcome the defects in the existing technology and provide a pipe internal spraying device.

[0006] To achieve the above objectives, the technical solution of this utility model is to design an internal pipe spraying device, including a spraying unit and a traveling unit. The spraying unit is disposed within the traveling unit. The spraying unit includes a spraying bracket, on which a rotating housing is mounted. A rotating shaft is sealed inside the rotating housing. Flow grooves are circumferentially arranged on the inner surface of the rotating housing and / or the outer surface of the rotating shaft. An inlet pipe communicating with the flow grooves is provided radially through the inner wall of the rotating housing. An outlet pipe communicating with the flow grooves is provided inside the rotating shaft. A first end cap is also sealed and installed at one end of the rotating housing. At least one nozzle is provided at one end of the rotating shaft. A rotary motor is also mounted on the spraying bracket, and the drive end of the rotary motor is driven and connected to the rotating shaft. Directly driving the rotating shaft to rotate via the rotary motor simplifies the power transmission structure (avoiding deviations from gear / belt drives) and ensures uniform coating spraying. Multiple sets of telescopic traveling wheels provide multi-point support, improving traveling stability. The integrated design reduces the device size and adapts to narrow pipe spaces. However, a proper seal must be maintained between the rotating housing, the rotating shaft, and the first end cover. A double-end-face mechanical seal is preferred between the rotating housing and the rotating shaft, consisting of a stationary ring (made of corrosion-resistant material such as silicon carbide or filled with polytetrafluoroethylene) fixed to the inner end face of the rotating housing, a rotating ring fixed to the outer surface of the rotating shaft and rotating with it, an elastic element (spring or bellows) providing axial preload, and an O-ring (fluororubber or perfluoroether rubber) for auxiliary sealing. The stationary and rotating rings fit tightly together to form a rotating sealing surface, the elastic element ensures the contact pressure, and the O-ring prevents lateral leakage. The mating surface between the rotating housing and the first end cover uses a stationary O-ring seal, preferably a fluororubber O-ring, embedded in an annular groove at the inner diameter of the rotating housing end. The seals described here are existing technologies and are not within the scope of this invention; therefore, they will not be described in detail.

[0007] The traveling unit includes a traveling bracket and a telescopic traveling wheel mechanism mounted on the traveling bracket. The spraying bracket is installed inside the traveling bracket. The traveling bracket has at least three mounting surfaces spaced circumferentially. Each mounting surface has at least two sets of telescopic traveling wheel mechanisms. The telescopic traveling wheel mechanism includes a traveling wheel mounting base and a first telescopic component mounted on the traveling wheel mounting base. The extended end of the first telescopic component is provided with a drive wheel, and a drive motor is driven and connected to the drive wheel. The traveling wheel can be a rubber wheel, preferably made of nitrile rubber (NBR) or polyurethane (PU) to increase the friction with the inner wall of the pipe.

[0008] A status sensing module is also provided at the end of the walking bracket near the nozzle. The rotary motor, drive motor, and status sensing module are all electrically connected to the control module and power module mounted on the walking bracket. The control module is equipped with a wireless receiving module for receiving wireless control commands. Preferably, the electrical components on the control module are controlled by a wireless remote control handle.

[0009] Preferably, the traveling bracket has four mounting surfaces: two fixed wheel surfaces and two movable wheel surfaces arranged opposite each other. Each fixed wheel surface has two sets of telescopic traveling wheel mechanisms mounted on it. Travel wheel mounting seats are installed on the fixed wheel surfaces. Each movable wheel surface has bearing brackets at both ends. A guide rail is provided between two bearing brackets, and a bidirectional lead screw is mounted between the two bearing brackets via bearings. Two slider bases are symmetrically arranged on the guide rail and the bidirectional lead screw. Each slider base has an internal thread that mates with the external thread of the bidirectional lead screw. Telescopic traveling wheel mechanisms are mounted on each of the two slider bases. The bidirectional lead screw is driven by a lead screw motor mounted on the traveling bracket, and the lead screw motor is electrically connected to a control module and a power module. The fixed wheel surfaces provide basic support, and the movable wheel surfaces adjust the distance between the two traveling wheels via the lead screw, allowing the traveling unit to better adapt to curved sections of the pipeline.

[0010] Optionally, the first telescopic component is an electric actuator, which is electrically connected to the control module and the power module. The electric actuator has a fast response speed, high control precision, and can be directly programmed through the control module to achieve automatic clamping force adjustment, avoiding manual intervention. Alternatively, the first telescopic component can also be a scissor lift mechanism.

[0011] Furthermore, the system also includes a pipe support unit, comprising at least three sets of pipe support components arranged circumferentially. Adjacent pipe support components are interconnected. Each pipe support component includes an arc-shaped support base. A pipe wheel bracket is connected to the outside of the support base via a second telescopic component. A pipe wheel is mounted on the pipe wheel bracket via a hinge shaft. Two elastic elements for balancing the pipe wheel bracket are symmetrically arranged between the pipe wheel bracket and the top of the second telescopic component. The elastic elements are preferably tension springs, which keep the pipe wheel bracket vertical during normal movement. When encountering small obstacles on the inner wall of the pipe, the tension of the springs can be overcome to slightly tilt the pipe wheel bracket, reducing the height of the pipe wheel and allowing it to pass through the obstacle. The pipe wheel is made of a material with a low coefficient of friction, high hardness, and wear resistance, preferably bearing steel (GCr15), and is lubricated.

[0012] Optionally, the second telescopic assembly includes a telescopic groove disposed on the outside of the support base. A connecting rod assembly, consisting of multiple connecting rod units hinged end-to-end, is disposed within the telescopic groove. Each connecting rod unit includes a first connecting rod hinged to each other in the middle. The end of the connecting rod unit at the top of the connecting rod assembly is hinged to one end of two second connecting rods, and the other end of the second connecting rods is hinged to the pipe wheel bracket. The bottom of the telescopic groove is provided with a first hinge hole and a sliding groove horizontally disposed at the first hinge hole. One of the two first connecting rods at the bottom of the connecting rod unit at the bottom of the connecting rod assembly is hinged in the first hinge hole, and the other is slidably mounted in the sliding groove via a connecting shaft. An adjustment mechanism for adjusting the sliding of the connecting shaft within the sliding groove is provided. By adjusting the position of the connecting shaft within the sliding groove, the deployment angle of the connecting rod assembly can be quickly changed to adapt to different pipe diameters, and the mechanical adjustment requires no additional power source. Preferably, the connecting rod assembly is a scissor-type lifting structure.

[0013] Optionally, the adjustment mechanism includes an adjustment threaded hole on the telescopic groove, in which an adjustment bolt is fitted. One end of the adjustment bolt is connected to the connecting shaft. By rotating the adjustment bolt, the connecting shaft is moved along the slide groove, thereby precisely adjusting the unfolding angle of the connecting rod assembly. The threaded adjustment structure is simple and reliable, requiring no complex power system, and allows for quantitative adjustment via scale markings, making it suitable for rapid on-site calibration. Alternatively, the adjustment mechanism can be a gear and rack mechanism, where rotating the gear drives the rack to move the connecting shaft; or the connecting shaft can be directly moved and its bolt tightened to fix its position.

[0014] Furthermore, a scale is provided at the slide groove, and an indicator arrow is provided on the outside of the connecting shaft, pointing towards the scale. The combination of the scale and the indicator arrow provides an intuitive adjustment reference, allowing operators to quickly locate the connecting shaft based on the pipe's inner diameter parameters, thus improving adjustment efficiency.

[0015] Optionally, the second telescopic component is a pneumatic lifting rod. A pneumatic lifting rod (a mechanical device that achieves lifting function by being driven by compressed air, the core principle of which is to control the extension and retraction of the rod by using changes in air pressure, most commonly used in chairs that can be raised and lowered) can adjust the height of the pipe wheel support by internal gas pressure, thereby adapting to different pipe diameters, and when encountering changes in pipe diameter during travel, the compression amount of the pneumatic lifting rod changes to achieve adaptive support.

[0016] Optionally, the status sensing module can be a camera and / or ultrasonic radar. The camera is used to acquire images of the inside of the pipeline (to identify welds, coating defects, or obstacles), and the ultrasonic radar is used to measure the distance between the device and the inner wall of the pipeline (to monitor changes in pipe diameter or the distance to obstacles ahead). The camera can be an infrared camera, and the number of ultrasonic radars can be 2 to 4 evenly distributed around the perimeter to achieve all-around monitoring.

[0017] Furthermore, the walking support is also equipped with lighting equipment. This lighting equipment provides a clear field of view for the camera, helping the operator accurately judge the coating process. The lighting equipment is preferably an LED light, but it can also be adjusted by installing a motor. The light color can be white or ultraviolet (for fluorescent coating detection).

[0018] To prevent sprayed paint or other substances from contaminating the bidirectional lead screw and affecting its normal operation, a preferred method is to install a accordion-style dust cover between the two bearing supports and the slider base. (The accordion-style dust cover is existing technology; it is a freely combinable industrial protective device, mainly used in machinery, automotive assembly, pharmaceuticals, and food processing, and has dustproof, waterproof, and oil-resistant functions. Its structure is made of a flexible PVC frame combined with external hinge material, suitable for environments from -30℃ to 80℃, supporting high-speed mechanical operation, and ensuring stability through thermal bonding or sewing processes.) Protective covers are also installed around motors and other electrical equipment.

[0019] The advantages and beneficial effects of this utility model are as follows: 1. The multi-point support design (at least 6 sets of telescopic walking wheel mechanisms, evenly distributed) ensures that multiple sets of wheels are in contact with the inner wall in any posture of the device in the pipe, avoiding tilting or jamming caused by single-point suspension; the movable wheel surface adjusts the wheel spacing through the screw motor, which can help the walking unit pass smoothly through the curved section of the pipe, and the first telescopic component can adapt to more pipes of different diameters.

[0020] 2. Through precise control of the rotary motor, the rotary shaft drives the nozzle to rotate at high speed. Combined with the directional conveying design of the flow channel and the inlet and outlet liquid pipes, the coating can evenly cover the entire circumference of the inner wall of the pipe, avoiding the problems of local missed spraying or excessive thickness in manual spraying. At the same time, the rotary spraying method improves the atomization effect and adhesion of the coating, shortens the single spraying time, and significantly improves the construction efficiency.

[0021] 3. The pipe support unit suspends and supports the coating pipe through pipe wheels, avoiding the sliding friction between the coating pipe and the inner wall of the pipe when dragged in traditional devices (reducing frictional resistance by more than 90%). This not only significantly reduces the driving force required for the overall movement of the device (saving energy and reducing motor load), but also prevents the coating from being contaminated by wear and leakage of the coating pipe, ensuring the integrity of the coating.

[0022] 4. The status perception module (camera / ultrasonic radar) provides real-time feedback on the internal environment of the pipeline, and the control module dynamically adjusts the operating parameters in conjunction with wireless commands; the lighting equipment provides assistance for visual perception in complex environments, further enhancing the adaptability of the device. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the operation of the spraying device of this utility model; Figure 2This is a schematic diagram of the spraying unit and walking unit of this utility model; Figure 3 This is a schematic diagram of the spraying unit structure of this utility model; Figure 4 This is a cross-sectional view of the spraying unit of this utility model; Figure 5 This is a schematic diagram of the walking unit structure of this utility model; Figure 6 This is a schematic diagram of the pipe support unit structure of this utility model; Figure 7 This is a schematic diagram of the pipe support component structure of this utility model; Figure 8 This is a detailed structural schematic diagram of the adjustment mechanism of this utility model; Figure 9 This is a schematic diagram of the walking unit of this utility model passing through a curved pipe.

[0024] In the diagram: 1. Spraying unit; 11. Spraying bracket; 12. Rotating housing; 121. Liquid inlet pipe; 13. Rotating shaft; 131. Flow channel; 132. Liquid outlet pipe; 14. First end cover; 15. Rotary motor; 2. Traveling unit; 21. Traveling bracket; 22. Fixed wheel surface; 23. Movable wheel surface; 231. Bearing bracket; 232. Guide rail; 233. Bidirectional lead screw; 234. Slider base; 235. Lead screw motor; 3. Nozzle; 4. Telescopic traveling wheel mechanism; 41. Traveling wheel mounting base; 42. First end cover; 43. Telescopic assembly; 44. Drive wheel; 5. Drive motor; 6. Pipe support unit; 51. Support base; 52. Second telescopic assembly; 521. Telescopic groove; 522. First connecting rod; 523. Second connecting rod; 524. First hinge hole; 525. Slide groove; 526. Connecting shaft; 53. Pipe wheel bracket; 54. Hinge shaft; 55. Pipe wheel; 56. Elastic element; 57. Adjustment mechanism; 571. Adjustment threaded hole; 572. Adjustment bolt; 58. Scale; 59. Indicating arrow; 6. Status sensing module. Detailed Implementation

[0025] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings and examples. The following examples are only used to more clearly illustrate the technical solution of this utility model and should not be construed as limiting the scope of protection of this utility model.

[0026] according to Figures 1-5As shown, this utility model is a pipe internal spraying device, including a spraying unit 1 and a traveling unit 2. The spraying unit 1 is disposed inside the traveling unit 2. The spraying unit 1 includes a spraying bracket 11, a rotating housing 12 is disposed on the spraying bracket 11, a rotating shaft 13 is sealed inside the rotating housing 12, a flow channel 131 is circumferentially disposed on the inner surface of the rotating housing 12 and / or the outer surface of the rotating shaft 13, an inlet pipe 121 communicating with the flow channel 131 is disposed radially through the inner wall of the rotating housing 12, and an outlet pipe 132 communicating with the flow channel 131 is disposed inside the rotating shaft 13. A first end cap 14 is also sealed and installed at one end of the rotating housing 12, and at least one nozzle 3 is disposed at one end of the rotating shaft 13. A rotating motor 15 is also disposed on the spraying bracket 11, and the driving end of the rotating motor 15 is drivenly connected to the rotating shaft 13. The walking unit 2 includes a walking bracket 21 and a telescopic walking wheel mechanism 4 mounted on the walking bracket 21. The spraying bracket 11 is installed inside the walking bracket 21. The walking bracket 21 has at least three mounting surfaces spaced circumferentially. Each mounting surface has at least two sets of telescopic walking wheel mechanisms 4. The telescopic walking wheel mechanism 4 includes a walking wheel mounting base 41 and a first telescopic component 42 mounted on the walking wheel mounting base 41. The extended end of the first telescopic component 42 is provided with a drive wheel 43, and a drive motor 44 is driven and connected to the drive wheel 43. A status sensing module 6 is also provided at the end of the walking bracket 21 near the nozzle 3. The rotary motor 15, the drive motor 44, and the status sensing module 6 are all electrically connected to the control module and the power module mounted on the walking bracket 21. The control module is provided with a wireless receiving module for receiving wireless control commands.

[0027] The traveling bracket 21 has four mounting surfaces: two fixed wheel surfaces 22 and two movable wheel surfaces 23 arranged opposite each other. Each fixed wheel surface 22 is equipped with two sets of telescopic traveling wheel mechanisms 4. Travel wheel mounting seats 41 are mounted on the fixed wheel surfaces 22. Each movable wheel surface 23 has bearing brackets 231 at both ends. A guide rail 232 is provided between the two bearing brackets 231. A bidirectional lead screw 233 is installed between the two bearing brackets 231 through bearings. Two slider bases 234 are symmetrically arranged on the guide rail 232 and the bidirectional lead screw 233. The slider base 234 is provided with an internal thread that mates with the external thread of the bidirectional lead screw 233. Each of the two slider bases 234 is equipped with a telescopic traveling wheel mechanism 4. The bidirectional lead screw 233 is driven by a lead screw motor 235 mounted on the traveling bracket 21. The lead screw motor 235 is electrically connected to the control module and the power module.

[0028] The first telescopic component 42 is an electric push rod, which is electrically connected to the control module and the power module.

[0029] like Figures 2-4 As shown, the core function of the spraying unit 1 is to achieve uniform spraying of paint onto the inner wall of the pipe. It includes a spraying bracket 11 fixed inside the traveling unit 2. A rotating housing 12 is bolted to the spraying bracket 11, and a rotating shaft 13 is sealed inside the rotating housing 12. To ensure sealing, a double-end mechanical seal is used between the rotating housing 12 and the rotating shaft 13. The rotating housing 12 is bolted to the first end cover 14, and their mating surfaces are sealed with O-rings. A circumferential annular flow groove 131 is formed on the outer surface of the rotating shaft 13 (or the inner surface of the rotating housing 12, or both). A liquid inlet pipe 121 is radially penetrated through the side wall of the rotating housing 12, communicating with the flow groove 131 to receive paint supplied by an external liquid supply device. An axially machined liquid outlet pipe 132 is machined inside the rotating shaft 13, also communicating with the flow groove 131. One end of the rotary shaft 13 extends out of the rotary housing 12 and is fitted with multiple nozzles 3, which communicate with the liquid outlet pipe 132. A rotary motor 15 is fixedly mounted on the spraying bracket 11, and its output shaft is directly driven by the rotary shaft 13 via a coupling. The working process is as follows: high-pressure paint is pumped in from the inlet pipe 121, flows into the annular flow channel 131, then enters the liquid outlet pipe 132 inside the rotary shaft 13 through radial holes, and finally is atomized and sprayed out from the high-speed rotating nozzles 3. The rotary motor 15 directly drives the rotary shaft 13 and the nozzles 3 to rotate, eliminating the need for complex gear or belt drives, thus ensuring the uniformity and stability of the spraying.

[0030] like Figure 2 , 5 As shown, the traveling unit 2 is responsible for carrying the entire device within the pipeline. It includes a rectangular or circular traveling bracket 21, to which the spraying bracket 11 is bolted. The traveling bracket 21 has four mounting surfaces circumferentially: two oppositely arranged fixed wheel surfaces 22 and two oppositely arranged movable wheel surfaces 23. On each fixed wheel surface 22, two sets of telescopic traveling wheel mechanisms 4 are directly bolted on. Each set of telescopic traveling wheel mechanisms 4 includes a traveling wheel mounting seat 41 fixed to the mounting surface, on which an electric push rod, serving as the first telescopic component 42, is mounted. The extended end of the electric push rod is equipped with a drive wheel 43, which is driven by an independent drive motor 44 (such as a servo motor or a DC geared motor) via gears or a synchronous belt.

[0031] Each movable wheel surface 23 has bearing brackets 231 welded to both ends. A guide rail 232 and a double-acting lead screw 233 are installed parallel between the two brackets. The double-acting lead screw 233 is supported by bearings and driven by a lead screw motor 235 fixed on the traveling bracket 21. Two slider bases 234 are symmetrically mounted on the double-acting lead screw 233. The slider bases 234 slide with the guide rail 232 and have internal threads that match the double-acting lead screw 233. Each slider base 234 is also equipped with a set of the aforementioned telescopic traveling wheel mechanism 4. The front end of the traveling bracket 21 (i.e., the end near the nozzle 3) also integrates a status sensing module (such as... Figure 5 As shown, the components may include a camera and / or ultrasonic radar, a control module (not shown in the figure, such as a PLC or microcontroller), a power supply module (not shown in the figure, such as a lithium battery pack), and lighting equipment (not shown in the figure, such as LED lights). The control module receives external commands through a wireless receiving module (such as a 4G / 5G or Wi-Fi module) and uniformly controls the rotary motor 15, all drive motors 44, the lead screw motor 235, the first telescopic component 42 (electric push rod), the status sensing module, and the lighting equipment.

[0032] Before entering the pipeline for operation, the electric push rod of the first telescopic component 42 is activated by the control module, controlling all the first telescopic components 42 (electric push rods) to extend synchronously, pushing all the drive wheels 43 to press tightly against the inner wall of the pipeline, providing sufficient support and driving force. When the device moves, the drive motor 44 works, driving the drive wheels 43 to roll, realizing forward or backward movement. Under normal pipeline conditions, the slider bases 234 on the bidirectional screw 233 are in a far-away state, generally at the farthest distance, to improve the support effect. Throughout the process, the status sensing module collects images and distance data inside the pipeline in real time and transmits them wirelessly to the external control terminal, allowing operators to remotely monitor and adjust the travel speed and spraying parameters.

[0033] It also includes a pipe support unit 5, which includes at least three sets of pipe support components arranged circumferentially. Adjacent pipe support components are connected to each other. Each pipe support component includes an arc-shaped support base 51. A pipe wheel bracket 53 is connected to the outside of the support base 51 through a second telescopic component 52. A pipe wheel 55 is mounted on the pipe wheel bracket 53 through a hinge shaft 54. Two elastic elements 56 for balancing the pipe wheel bracket 53 are symmetrically arranged between the top of the pipe wheel bracket 53 and the second telescopic component 52.

[0034] The second telescopic component 52 includes a telescopic groove 521 disposed on the outside of the support base 51. A connecting rod assembly consisting of multiple connecting rod units hinged end to end is disposed in the telescopic groove 521. Each connecting rod unit includes a first connecting rod 522 hinged to each other in the middle. The end of the connecting rod unit at the top of the connecting rod assembly is hinged to one end of two second connecting rods 523. The other end of the second connecting rod 523 is hinged to the pipe wheel bracket 53. The bottom of the telescopic groove 521 is provided with a first hinge hole 524 and a sliding groove 525 horizontally disposed with respect to the first hinge hole 524. One of the two first connecting rods 522 at the bottom of the connecting rod unit at the bottom of the connecting rod assembly is hinged in the first hinge hole 524, and the other is slidably mounted in the sliding groove 525 through a connecting shaft 526. An adjustment mechanism 57 for adjusting the sliding of the connecting shaft 526 in the sliding groove 525 is provided at the sliding groove 525.

[0035] The adjustment mechanism 57 includes an adjustment threaded hole 571 provided on the telescopic groove 521, and an adjustment bolt 572 is fitted in the adjustment threaded hole 571. One end of the adjustment bolt 572 is connected to the connecting shaft 526.

[0036] A scale 58 is also provided at the slide groove 525, and an indicator arrow 59 is provided on the outside of the connecting shaft 526, the indicator arrow 59 pointing to the scale 58.

[0037] like Figure 6 , Figure 7 and Figure 8As shown, the pipe support unit 5 includes three (or more) sets of pipe support assemblies, which are connected end-to-end by bolts to form a ring-shaped support structure that can be inserted into a pipe. Each set of pipe support assemblies includes an arc-shaped support base 51. An expansion groove 521 is provided on the outer side of the support base 51, within which a linkage-type lifting mechanism, serving as a second expansion assembly 52, is installed. This mechanism is composed of multiple linkage units hinged end-to-end, each linkage unit consisting of two first linkages 522 cross-hinged in the middle by a pin. Two second linkages 523 are hinged to the upper end of the topmost linkage unit, and the other ends of these two second linkages 523 are hinged together to a pipe wheel bracket 53. A pipe wheel 55 is mounted on the pipe wheel bracket 53 via a hinge shaft 54. Between the top of the pipe wheel support 53 and the telescopic groove 521, two elastic elements 56 (such as tension springs) are symmetrically connected to maintain the vertical balance of the pipe wheel support 53 under normal conditions and to provide cushioning when encountering small obstacles, allowing the pipe wheel 55 to tilt slightly over. At the bottom of the telescopic groove 521, there is a first hinge hole 524 and a slide groove 525 horizontally positioned with respect to the hole. Two first connecting rods 522 located at the lower end of the lowest connecting rod unit are provided; one is directly hinged within the first hinge hole 524, and the other is slidably mounted within the slide groove 525 via a connecting shaft 526. To adjust the support height of the pipe wheel 55, an adjustment mechanism 57 is provided at the slide groove 525. This mechanism includes an adjustment threaded hole 571 formed in the side wall of the telescopic groove 521 and an adjustment bolt 572 screwed into it. The end of the adjustment bolt 572 can be designed to connect to the ball head of the connecting shaft 526 or be directly tightened. A scale 58 is fixed next to the slide 525, and an indicator arrow 59 is provided on the connecting shaft 526, pointing to the scale 58.

[0038] In use, multiple connected pipe support units 5 are fixedly mounted on the paint delivery pipe. The spacing between two adjacent pipe support units 5 is determined according to factors such as the material and hardness of the paint delivery pipe. (It should be noted that using pipe support units 5 does not mean lifting all paint delivery pipes and keeping them in a straight line or coaxial with the pipe. The spaced design of pipe support units 5 only lifts part of the pipe, so that most of the paint delivery pipes no longer contact the inner wall of the pipe to be sprayed, thereby reducing the friction between the paint delivery pipes and the inner wall of the pipe to be sprayed and increasing the forward resistance of the traveling unit 2. At the pipe opening, the paint delivery pipe needs to be pulled by a winding device to ensure that the paint delivery pipe entering the pipe is slightly longer than the pipe to be sprayed, so that the paint delivery pipe has more redundancy inside the pipe to be sprayed and does not come into contact with the inner wall of the pipe to be sprayed, thus avoiding friction.) The pipe is then inserted through the inlet of the pipe to be sprayed. Driven by the traveling unit 2, the pipe support units 5 on the paint delivery pipe are pulled in one after another. Before entering, the operator rotates the adjusting bolts 572 on each support component according to the inner diameter of the pipe. The bolt pushes the connecting shaft 526 to slide within the groove 525, thereby changing the unfolding angle of the entire connecting rod assembly. This allows all pipe wheels 55 to press tightly against the inner wall of the pipe, lifting the paint delivery pipe and suspending it in the air. This transforms sliding friction into rolling friction, greatly reducing dragging resistance. During spraying, the traveling unit 2 and spraying unit 1 are typically moved to the deepest part of the pipe via the paint delivery pipe. During this movement, pipe support units 5 are continuously added to achieve long-distance dragging. Upon reaching the deepest part of the pipe, the pipe is moved backward towards the pipe opening while rotating and spraying. During this backward movement, the paint delivery pipe needs to be retrieved manually or by machine at the pipe opening, slightly slower than the traveling unit 2's speed. Once the paint delivery pipe is retrieved with pipe support units 5, they can be directly removed. To prevent the pipe support units 5 from tipping over inside the pipe, two pipe support units 5 can be placed adjacent to each other along the axial direction of the paint delivery pipe to prevent tilting.

[0039] The second telescopic component 52 is a pneumatic lifting rod. In this embodiment, the second telescopic component 52 can use a pneumatic lifting rod (not shown in the figure, which is existing technology, such as the gas spring commonly used for office chair height adjustment) instead of a linkage mechanism. The pneumatic lifting rod is directly installed between the support base 51 and the pipe wheel bracket 53. Through its internal air pressure locking mechanism, the height of the pipe wheel 55 can be quickly adjusted and locked. This solution is more convenient to adjust and has a certain degree of self-adaptation to small changes in pipe diameter during travel.

[0040] like Figure 9As shown, when spraying paint onto a pipe with a bend, the fixed wheel surface 22 on the traveling unit 2 faces the non-bend side of the pipe, while the movable wheel surface 23 faces the bend side. Before entering the bend, all drive wheels 43 extend through their first telescopic assembly 42 (electric push rod) and press against the inner wall of the pipe. The two drive wheels 43 on the movable wheel surface 23 are symmetrically positioned and furthest apart to provide better support. The drive wheels 43 on the fixed wheel surface 22 provide stable support. As the device approaches the bend, a status sensing module (such as a camera or ultrasonic radar) at the front end detects the bend. The control module receives the information and issues an adjustment command. During the adaptive process within the bend, the control module sends a rotation command to the lead screw motor 235 (closer to the inside of the bend) on the left movable wheel surface 23. Through the transmission of the bidirectional lead screw 233 and the slider base 234, the drive wheel 43 retracts inward, and the distance between the drive wheels 43 closer to the inside of the bend gradually decreases. Simultaneously, the drive wheel 43 expands outward, and the distance between the drive wheels 43 near the outer edge of the curve gradually increases (if it was already at its maximum, this point does not need to be moved). After adjustment, the two drive wheels 43 on the left movable wheel surface present a trapezoidal layout that is "narrower on the inside and wider on the outside" (e.g., ...). Figure 9 As shown, it perfectly matches the geometry of the curve. The drive wheels 43 on the two fixed wheel surfaces 22 remain in the same position, serving as a stable reference, and together with the adjusted movable wheel surface, they form a reliable three-point support system. After passing through the curve and entering the straight section, the lead screw motor 235 reverses, restoring the two drive wheels 43 on the movable wheel surface to their original positions.

[0041] The bolts, nuts, screws, welding, etc. used to connect two or more parts in the above-mentioned fixing and installation are all known to those skilled in the art and will not be described in detail here. The components that require bearings, such as motors and shafts, are also known to those skilled in the art and will not be described in detail here. The brackets and other components described in this article are adjusted according to the interrelationship between the components, with the main purpose of preventing interference between different components.

[0042] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A pipe internal spraying device, characterized in that, The system includes a spraying unit (1) and a traveling unit (2). The spraying unit (1) is located inside the traveling unit (2). The spraying unit (1) includes a spraying bracket (11). A rotating housing (12) is mounted on the spraying bracket (11). A rotating shaft (13) is sealed inside the rotating housing (12). A flow groove (131) is circumferentially provided on the inner surface of the rotating housing (12) and / or the outer surface of the rotating shaft (13). The rotating housing (12) extends radially through the inner surface of the rotating shaft (13). The wall is provided with an inlet pipe (121) communicating with the flow channel (131), the inside of the rotary shaft (13) is provided with an outlet pipe (132) communicating with the flow channel (131), one end of the rotary housing (12) is also sealed with a first end cap (14), one end of the rotary shaft (13) is provided with at least one nozzle (3), the spraying bracket (11) is also provided with a rotary motor (15), and the drive end of the rotary motor (15) is drivenly connected to the rotary shaft (13); The walking unit (2) includes a walking bracket (21) and a telescopic walking wheel mechanism (4) mounted on the walking bracket (21). The spraying bracket (11) is installed inside the walking bracket (21). The walking bracket (21) has at least three mounting surfaces spaced circumferentially. At least two sets of telescopic walking wheel mechanisms (4) are provided on each mounting surface. The telescopic walking wheel mechanism (4) includes a walking wheel mounting seat (41) and a first telescopic component (42) mounted on the walking wheel mounting seat (41). The extended end of the first telescopic component (42) is provided with a drive wheel (43). A drive motor (44) is driven and connected to the drive wheel (43). The walking support (21) is also provided with a status sensing module (6) at the end near the nozzle (3). The rotary motor (15), drive motor (44), and status sensing module (6) are all electrically connected to the control module and power module installed on the walking support (21). The control module is provided with a wireless receiving module for receiving wireless control commands.

2. The pipe internal spraying device according to claim 1, characterized in that, The walking bracket (21) has four mounting surfaces, including two oppositely arranged fixed wheel surfaces (22) and two oppositely arranged movable wheel surfaces (23). Each fixed wheel surface (22) is equipped with two sets of telescopic walking wheel mechanisms (4). The walking wheel mounting base (41) is installed on the fixed wheel surface (22). Each movable wheel surface (23) has a bearing bracket (231) at both ends. A guide rail (232) is provided between two bearing brackets (231). The two bearing brackets (231) are connected by a guide rail. A bidirectional lead screw (233) is mounted on a bearing. Two slider bases (234) are symmetrically arranged on the guide rail (232) and the bidirectional lead screw (233). The slider base (234) is provided with an internal thread that matches the external thread of the bidirectional lead screw (233). A telescopic walking wheel mechanism (4) is installed on both slider bases (234). The bidirectional lead screw (233) is driven and connected to a lead screw motor (235) set on the walking bracket (21). The lead screw motor (235) is electrically connected to the control module and the power module.

3. The pipe internal spraying device according to claim 1, characterized in that, The first telescopic component (42) is an electric push rod, which is electrically connected to the control module and the power module.

4. The pipe internal spraying device according to claim 1, characterized in that, It also includes a pipe support unit (5), which includes at least three sets of pipe support components arranged circumferentially. Two adjacent pipe support components are connected to each other. The pipe support component includes an arc-shaped support base (51). A pipe wheel bracket (53) is connected to the outside of the support base (51) through a second telescopic component (52). A pipe wheel (55) is installed on the pipe wheel bracket (53) through a hinge shaft (54). Two elastic elements (56) for balancing the pipe wheel bracket (53) are symmetrically arranged between the top of the pipe wheel bracket (53) and the top of the second telescopic component (52).

5. The pipe internal spraying device according to claim 4, characterized in that, The second telescopic assembly (52) includes a telescopic groove (521) disposed on the outside of the support base (51). A connecting rod assembly consisting of multiple connecting rod units hinged end-to-end is disposed within the telescopic groove (521). Each connecting rod unit includes a first connecting rod (522) hinged together in the middle. The end of the connecting rod unit at the top of the connecting rod assembly is hinged to one end of two second connecting rods (523). The other end of the second connecting rods (523) is hinged to the pipe wheel bracket (53). The telescopic groove (521)... 21) The bottom is provided with a first hinge hole (524) and a slide groove (525) arranged horizontally with the first hinge hole (524). The two first connecting rods (522) at the bottom of the connecting rod unit at the bottom end of the connecting rod assembly are hinged in the first hinge hole (524) and slidably installed in the slide groove (525) through the connecting shaft (526). An adjustment mechanism (57) for adjusting the sliding of the connecting shaft (526) in the slide groove (525) is provided at the slide groove (525).

6. The pipe internal spraying device according to claim 5, characterized in that, The adjustment mechanism (57) includes an adjustment threaded hole (571) provided on the telescopic groove (521), and an adjustment bolt (572) is fitted in the adjustment threaded hole (571). One end of the adjustment bolt (572) is connected to the connecting shaft (526).

7. The pipe internal spraying device according to claim 5, characterized in that, A scale (58) is also provided at the slide groove (525), and an indicator arrow (59) is provided on the outside of the connecting shaft (526), ​​the indicator arrow (59) pointing to the scale (58).

8. The pipe internal spraying device according to claim 4, characterized in that, The second telescopic component (52) is a pneumatic lifting rod.

9. A pipe internal spraying device according to claim 1, characterized in that, The state perception module (6) is a camera and / or ultrasonic radar.

10. A pipe internal spraying device according to claim 1, characterized in that, The walking support (21) is also equipped with lighting equipment.

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