CN113510028B - Pipeline spraying robot and spraying method for inner wall of special-shaped variable-cross-section bent pipeline - Google Patents
Pipeline spraying robot and spraying method for inner wall of special-shaped variable-cross-section bent pipeline Download PDFInfo
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- CN113510028B CN113510028B CN202110574192.7A CN202110574192A CN113510028B CN 113510028 B CN113510028 B CN 113510028B CN 202110574192 A CN202110574192 A CN 202110574192A CN 113510028 B CN113510028 B CN 113510028B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/06—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 specially designed for treating the inside of hollow bodies
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Abstract
The invention firstly provides a pipeline spraying robot, which comprises a first supporting piece and a second supporting piece which are oppositely arranged, wherein a first arc-shaped track and a second arc-shaped track which are the same in shape are respectively arranged on one opposite side of the first supporting piece and one opposite side of the second supporting piece, a guide rail is arranged between the first arc-shaped track and the second arc-shaped track, two ends of the guide rail are respectively positioned in the first arc-shaped track and the second arc-shaped track, two ends of the guide rail can synchronously slide in the first arc-shaped track and the second arc-shaped track, a spraying assembly for spraying the inner wall of a pipeline is arranged on the guide rail, and the spraying assembly can move along the guide rail. The invention also provides a spraying method of the inner wall of the special-shaped variable cross-section bent pipeline, which can solve the problem of difficult spraying of the middle part caused by large length-diameter ratio of the special-shaped variable cross-section bent pipeline.
Description
Technical Field
The invention relates to the technical field of pipeline inner wall spraying, in particular to a pipeline spraying robot and a spraying method for the inner wall of a special-shaped variable-section bent pipeline.
Background
The different-deformation section bending pipeline refers to a pipeline with a pipeline axis being a curve, a section shape changing along the pipeline axis and a section inner and outer contour being a complex curve. Such pipes also typically have a large aspect ratio and a narrow internal space. The air inlet channel of part of the airplane is a typical special-shaped variable cross-section bent pipeline. The automatic spraying of the inner wall coating of the curved pipeline with the variable cross section is an important technology.
Due to the characteristic of narrow internal space of the special-shaped variable cross-section bent pipeline, an air spraying mode is generally selected. At present, the traditional manual spraying is mostly adopted for spraying the coating on the inner wall of the special-shaped variable cross-section bent pipeline. The spraying in-process workman will get into narrow pipeline space, and it is extremely inconvenient to operate, and the spraying is inefficient, and the spraying is also not enough even moreover, and the spraying effect is not good. On the other hand, the coating contains harmful substances that cause serious damage to the health of workers. The problem can be effectively solved by adopting the robot to operate to realize automatic spraying. Therefore, the development of the automatic pipeline spraying robot for the inner wall of the curved pipeline with the different deformation cross sections is of great significance.
Disclosure of Invention
In view of the above, the present invention provides a pipeline spraying robot and a spraying method for an inner wall of a special-shaped variable cross-section curved pipeline, which can solve the problem of difficult middle part spraying caused by a large length-diameter ratio of the special-shaped variable cross-section curved pipeline.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention firstly provides a pipeline spraying robot, which comprises a first supporting piece and a second supporting piece which are oppositely arranged, wherein a first arc-shaped track and a second arc-shaped track which are the same in shape are respectively arranged on one opposite side of the first supporting piece and one opposite side of the second supporting piece, a guide rail is arranged between the first arc-shaped track and the second arc-shaped track, two ends of the guide rail are respectively positioned in the first arc-shaped track and the second arc-shaped track, two ends of the guide rail can synchronously slide in the first arc-shaped track and the second arc-shaped track, a spraying assembly for spraying the inner wall of a pipeline is arranged on the guide rail, and the spraying assembly can move along the guide rail.
Further, the two ends of the guide rail are respectively provided with a first arc-shaped sliding block and a second arc-shaped sliding block which are matched with the shapes of the first arc-shaped track and the second arc-shaped track, and the first arc-shaped sliding block and the second arc-shaped sliding block are respectively arranged in the first arc-shaped track and the second arc-shaped track.
Furthermore, the first arc-shaped sliding block and the second arc-shaped sliding block are respectively connected with two ends of the guide rail by adopting a spherical hinge, and a first driving motor for driving the guide rail to rotate along the axis of the guide rail is arranged on the first arc-shaped sliding block.
Further, the output shaft of the first driving motor is connected with the end part of the guide rail by adopting a flexible coupling.
Further, the guide rail is linear guide, the spraying subassembly includes slide arm, flexible arm and swing arm, the slide arm cover is established can follow on the guide rail removes, flexible arm can follow its axis direction and stretch out and draw back, the one end of flexible arm with the slide arm is connected, the other end with the one end of swing arm is rotated and is connected, the other end of swing arm is equipped with fixture, the last spray gun that is used for the spraying that is equipped with of fixture.
Further, the guide rail is crooked guide rail, the spraying subassembly includes sliding arm, swinging boom and flexible arm, the sliding arm cover is established can follow on the guide rail removes, the swinging boom cover is established can follow its axis rotation on the sliding arm, flexible arm can follow its axis direction and stretch out and draw back, the one end of flexible arm with the swinging boom is connected, the other end is equipped with fixture, the last spray gun that is used for the spraying that is equipped with of fixture.
Furthermore, a second driving motor for driving the sliding arm to move along the guide rail is arranged on the sliding arm, a gear is arranged on an output shaft of the second driving motor, and a tooth surface matched with the gear is arranged on the guide rail; the sliding arm is provided with a third driving motor for driving the rotating arm to rotate around the axis of the rotating arm, an output shaft of the third driving motor is provided with a bevel gear, and the rotating arm is provided with bevel teeth meshed with the bevel gear.
Furthermore, supporting legs used for being in supporting contact with the inner wall of the pipeline are arranged on the first supporting piece and the second supporting piece.
Furthermore, the supporting legs adopt telescopic supporting legs.
The invention also provides a spraying method of the inner wall of the special-shaped variable cross-section bent pipeline, which comprises the following steps:
the method comprises the following steps: middle section of spraying pipeline
Step 11) installing the pipeline spraying robot in any one of the pipeline spraying robots to an intermediate spraying section in the bent pipeline with the variable-shape cross section;
step 12) adjusting the positions of the two ends of the guide rail in the first arc-shaped track and the second arc-shaped track respectively and adjusting the position of the spraying assembly on the guide rail, and spraying the middle section in the special-shaped variable-section bent pipeline by using the spraying assembly;
step 13) dismantling the pipeline spraying robot in the middle spraying section under the clamping of the external mechanical arms at the two ends;
step two: spraying of both ends of the pipeline
And step 21) respectively spraying the spraying sections at the two ends of the pipeline by using a spray gun.
The invention has the beneficial effects that:
the invention firstly provides a pipeline spraying robot, when spraying operation is carried out, a first supporting piece and a second supporting piece can be installed and fixed at the middle section in the special-shaped variable cross-section bent pipeline, then spraying is carried out, the problem that the middle part is difficult to spray due to large length-diameter ratio of the special-shaped variable cross-section bent pipeline can be solved, the pipeline spraying robot can be installed at any position in the pipeline when in work, the shape of a guide rail can be set according to the shape in the pipeline, all the parts are integrated in a combined mode, and the pipeline spraying robot can be suitable for spraying work in pipelines with different curvatures;
The invention also provides a spraying method for the inner wall of the special-shaped variable cross-section bent pipeline, the special-shaped variable cross-section bent pipeline is divided into two end sections and a middle section, the two end sections are sprayed in a mechanical arm stretching mode, and a pipeline spraying robot sprays the middle section, so that the problem that the middle part is difficult to spray due to the large length-diameter ratio of the special-shaped variable cross-section bent pipeline can be solved.
Drawings
In order to make the object, technical scheme and beneficial effect of the invention more clear, the invention provides the following drawings for explanation:
FIG. 1 is a schematic view of an overall structure of a first embodiment of a pipeline spraying robot according to the present invention;
FIG. 2 is a schematic view of an overall structure of a second embodiment of the pipeline spraying robot according to the present invention;
FIG. 3 is a schematic view of the internal structure of A in FIG. 2;
FIG. 4 is a schematic view of a second support member;
fig. 5 is a schematic view of the installation of the pipeline spray coating robot in the pipeline.
Description of reference numerals:
1-a first support; 2-a second support; 3-a first arcuate track; 4-a second arcuate track; 5-a guide rail; 6-a first arc-shaped sliding block; 7-a second arc-shaped sliding block; 8-a first drive motor; 9-a sliding arm; 10-a telescopic arm; 11-a swing arm; 12-a spray gun; 13-a rotating arm; 14-a second drive motor; 15-gear; 16-tooth flank; 17-a third drive motor; 18-bevel gear; 19-bevel gear; 20-supporting feet; 21-mounting frame.
Detailed Description
The present invention is further described with reference to the following drawings and specific examples so that those skilled in the art can better understand the present invention and can practice the present invention, but the examples are not intended to limit the present invention.
Example one
As shown in fig. 1, which is a schematic view of a first embodiment of a pipeline spraying robot according to the present invention, the pipeline spraying robot includes a first supporting member 1 and a second supporting member 2 which are oppositely disposed, in this embodiment, the first supporting member 1 and the second supporting member 2 are respectively provided with 3 telescopic supporting feet 20 along the circumferential direction thereof, when in use, the first supporting member 1 and the second supporting member 2 are firstly placed inside a special-shaped variable cross-section curved pipeline, the telescopic length of the supporting feet 20 is adjusted, that is, the positions of the first supporting member 1 and the second supporting member 2 in the pipeline can be fixed, and the pipeline spraying robot can be suitable for pipelines with different pipe diameters by adjusting the telescopic length of each supporting foot 20; the opposite sides of the first support member 1 and the second support member 2 are respectively provided with a first arc-shaped track 3 and a second arc-shaped track 4 which are identical in shape, the shape of the arc-shaped tracks is related to the shape of the middle section of the spraying pipeline in specific implementation, a guide rail 5 is arranged between the first arc-shaped track 3 and the second arc-shaped track 4, the guide rail 5 is a linear guide rail in the embodiment, two ends of the guide rail 5 are respectively located in the first arc-shaped track 3 and the second arc-shaped track 4, two ends of the guide rail 5 can synchronously slide in the first arc-shaped track 3 and the second arc-shaped track 4, the guide rail 5 is provided with a spraying assembly for spraying the inner wall of the pipeline, and the spraying assembly can move along the guide rail 5.
Specifically, as shown in fig. 1 and 4, the guide rail 5 of the present embodiment is provided at two ends thereof with a first arc-shaped slider 6 and a second arc-shaped slider 7, which are matched with the first arc-shaped rail 3 and the second arc-shaped rail 4 in shape, respectively, and the first arc-shaped slider 6 and the second arc-shaped slider 7 are respectively disposed in the first arc-shaped rail 3 and the second arc-shaped rail 4. In the spraying process, the first arc-shaped sliding block 6 and the second arc-shaped sliding block 7 respectively keep synchronous movement in the first arc-shaped track 3 and the second arc-shaped track 4, so that the guide rail 5 can be prevented from being blocked when swinging along the arc-shaped tracks. The synchronous movement of the first arc-shaped sliding block 6 and the second arc-shaped sliding block 7 can be realized by a gear and rack mode, and the description is not repeated here.
Further, the first arc-shaped sliding block 6 and the second arc-shaped sliding block 7 of this embodiment are connected with the two ends of the guide rail 5 by means of spherical hinges respectively, and the first arc-shaped sliding block 6 is provided with a first driving motor 8 for driving the guide rail 5 to rotate along the axis of the first arc-shaped sliding block, specifically, the first supporting member 1 of this embodiment is provided with an installation space, and the first driving motor 8 is arranged in the installation space. The adoption of the ball-and-socket joint ensures that the linear guide 5 can rotate around the axis of the linear guide and allows the first support 1 and the second support 2 to have a spatial offset so as to adapt to the internal shape of the bent pipeline.
Further, the output shaft of the first driving motor 8 of the present embodiment is connected with the end of the guide rail 5 by a flexible coupling. The torque can be transmitted while allowing an angular offset between the output shaft of the first drive motor 8 and the end of the guide rail 5.
Further, as shown in fig. 1, the spraying assembly of this embodiment includes a sliding arm 9, a telescopic arm 10 and a swing arm 11, the sliding arm 9 is sleeved on the guide rail 5 and can move along the guide rail 5, the specific structure of the spraying assembly can adopt a gear and rack structure, the telescopic arm 10 can be telescopic along the axis direction thereof, one end of the telescopic arm 10 is connected with the sliding arm 9, the other end of the telescopic arm is rotatably connected with one end of the swing arm 11, the other end of the swing arm 11 is provided with a clamping mechanism, and the clamping mechanism is provided with a spray gun 12 for spraying. Can make spray gun 12 carry out the omnidirectional spraying to pipeline inner wall, increase the spraying effect, and can adjust the distance between spray gun 12 and the pipeline inner wall through the flexible of flexible arm 10, optimize the spraying effect.
The degree of freedom that the pipeline spraying robot of this embodiment has when working includes linear guide 5 along the first arc track 3 on first support 1 and the second support 2 and the wobbling degree of freedom of second arc track 4, linear guide 5 along the degree of freedom of self axis pivoted, the degree of freedom that slider 9 moved along linear guide 5 axis, the degree of freedom that telescopic arm 10 stretches out and draws back along its axis direction, the wobbling degree of freedom of swing arm 11, totally 5 degrees of freedom. The redundant degree of freedom is used for adjusting the pipeline spraying robot to a proper posture, so that the optimal spraying distance of 150 mm-200 mm between the nozzle of the spray gun 12 and the inner surface of the sprayed pipeline and the optimal spraying angle of the direction of the nozzle of the spray gun perpendicular to the sprayed surface as much as possible are ensured.
Example two
As shown in fig. 2, in this embodiment, the guide rail 5 is a curved guide rail adapted to a pipeline, the spraying component includes a sliding arm 9, a rotating arm 13 and a telescopic arm 10, the sliding arm 9 is sleeved on the guide rail 5 and can move along the guide rail 5, the rotating arm 13 is sleeved on the sliding arm 9 and can rotate along an axis thereof, the telescopic arm 10 can stretch along the axis direction thereof, one end of the telescopic arm is connected with the rotating arm 13, the other end of the telescopic arm is provided with a clamping mechanism, the clamping mechanism is provided with a spray gun 12 for spraying, and the rest of the telescopic arm is consistent with the first embodiment.
Specifically, as shown in fig. 3, the slide arm 9 of the present embodiment is provided with a second driving motor 14 for driving the slide arm to move along the guide rail 5, an output shaft of the second driving motor 14 is provided with a gear 15, and the guide rail 5 is provided with a tooth surface 16 matched with the gear 15; the sliding arm 9 is provided with a third driving motor 17 for driving the rotating arm 13 to rotate around the axis thereof, an output shaft of the third driving motor 17 is provided with a bevel gear 18, and the rotating arm 13 is provided with bevel teeth 19 which are meshed with the bevel gear 18. Specifically, the slide arm 9 of the present embodiment is provided with an installation space for installing the second driving motor 14 therein, the gear 15 on the output shaft of the second driving motor 14 is engaged with the tooth surface 16 on the guide rail 5, the second driving motor 14 rotates to drive the gear 15 to rotate, and the gear 15 is engaged with the tooth surface 16, so that the slide arm 9 moves along the guide rail 5, and the middle section inside the pipeline is sprayed. The slide arm 9 of this embodiment is further provided with a mounting bracket 21 for mounting the third driving motor 17, the third driving motor 17 is fixed on the mounting bracket 21, the bevel gear 18 provided on the output shaft of the third driving motor 17 is meshed with the bevel gear 19 provided on the rotating arm 13, and the third driving motor 17 rotates to drive the bevel gear 18 to synchronously rotate, so that the rotating arm 13 rotates around the axis thereof.
The degree of freedom that the pipeline spraying robot of this embodiment has when working includes the degree of freedom that crooked guide rail 5 swung along first arc track 3 and second arc track 4 on first support 1 and the second support 2, the gliding degree of freedom of slide arm 9 along crooked guide rail 5, the degree of freedom that swivel arm 13 revolved around the outer profile cylindrical axis of slide arm 9, the flexible degree of freedom of telescopic arm 10. For a total of 4 degrees of freedom. The redundant degree of freedom is used for adjusting the pipeline spraying robot to a proper posture, so that the optimal spraying distance of 150 mm-200 mm between the nozzle of the spray gun 12 and the surface to be sprayed and the optimal spraying angle of the nozzle of the spray gun 12 perpendicular to the surface to be sprayed as far as possible are ensured.
According to the first embodiment and the second embodiment, when the pipeline spraying robot works, the first supporting piece and the second supporting piece can be installed at any position in the pipeline, the shape of the guide rail can be set according to the shape of the interior of the pipeline, and all the parts are combined into a whole in a combined mode, so that the pipeline spraying robot is suitable for spraying work in the interior of the pipeline with different curvatures.
EXAMPLE III
The invention also provides a spraying method of the inner wall of the special-shaped variable cross-section bent pipeline, which comprises the following steps:
The method comprises the following steps: middle section of spraying pipeline
Step 11) installing the pipeline spraying robot as described in the first embodiment or the second embodiment to the middle spraying section in the curved pipeline with the different-deformation cross section, wherein the pipeline spraying robot is installed inside the pipeline by a mechanical arm in the embodiment, and the curved guide rail and the linear guide rail are specifically selected according to the actual situation of the pipeline;
step 12) adjusting the positions of two ends of a guide rail 5 in the first arc-shaped rail 3 and the second arc-shaped rail 4 respectively and adjusting the position of the spraying assembly on the guide rail 5, spraying the middle section in the special-shaped variable-section bent pipeline by using the spraying assembly, and performing comprehensive spraying on the interior of the pipeline by moving the spraying assembly with multiple degrees of freedom;
step 13) dismantling the pipeline spraying robot in the middle spraying section under the clamping of the external mechanical arms at the two ends;
step two: spraying of both ends of the pipeline
And step 21) respectively spraying the spraying sections at the two ends of the pipeline by using a spray gun.
And after the spraying is finished, the pipeline and the mechanical arm are detached.
As shown in fig. 5, for the installation sketch when guide rail 5 is linear guide, through being divided into both ends section and interlude with the crooked pipeline of special-shaped variable cross section to stretch into the mode through the arm and carry out the spraying to both ends section, pipeline spraying robot sprays to the interlude, can solve the problem of the middle part spraying difficulty that the crooked pipeline draw ratio of special-shaped variable cross section brought greatly. Similarly, the same principle applies when the guide rail 5 is a curved guide rail.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (8)
1. A pipeline spraying robot which is characterized in that: the spraying device is used for spraying the inner wall of the special-shaped variable-section bent pipeline and comprises a first supporting piece (1) and a second supporting piece (2) which are arranged oppositely, a first arc-shaped track (3) and a second arc-shaped track (4) which are the same in shape are arranged on one side, opposite to the first supporting piece (1) and the second supporting piece (2), of the first arc-shaped track (3) and the second arc-shaped track (4), a guide rail (5) is arranged between the first arc-shaped track (3) and the second arc-shaped track (4), two ends of the guide rail (5) are respectively located in the first arc-shaped track (3) and the second arc-shaped track (4), two ends of the guide rail (5) can synchronously slide in the first arc-shaped track (3) and the second arc-shaped track (4), a spraying assembly used for spraying the inner wall of the pipeline is arranged on the guide rail (5), and the spraying assembly can move along the guide rail (5);
A first arc-shaped sliding block (6) and a second arc-shaped sliding block (7) which are matched with the first arc-shaped track (3) and the second arc-shaped track (4) in shape are respectively arranged at two ends of the guide rail (5), and the first arc-shaped sliding block (6) and the second arc-shaped sliding block (7) are respectively arranged in the first arc-shaped track (3) and the second arc-shaped track (4);
first arc slider (6) with second arc slider (7) respectively with the both ends of guide rail (5) adopt the ball pivot to connect, adopt the ball pivot to connect and can guarantee guide rail (5) can be around self axis rotation while can allow again there is the skew in space between first support piece (1) and the second support piece (2) to adapt to the inside shape of special-shaped variable cross section crooked pipeline, just be equipped with the drive on first arc slider (6) guide rail (5) are along its axis pivoted first driving motor (8).
2. The pipe spray robot of claim 1, wherein: and an output shaft of the first driving motor (8) is connected with the end part of the guide rail (5) by adopting a flexible coupling.
3. The pipe spray robot of claim 1, wherein: guide rail (5) are linear guide, the spraying subassembly includes slide arm (9), flexible arm (10) and swing arm (11), slide arm (9) cover is established can follow on guide rail (5) remove, flexible arm (10) can be followed its axis direction and stretch out and draw back, the one end of flexible arm (10) with slide arm (9) are connected, the other end with the one end of swing arm (11) is rotated and is connected, the other end of swing arm (11) is equipped with fixture, the last spray gun (12) that are used for the spraying that are equipped with of fixture.
4. The pipe spray robot of claim 1, wherein: guide rail (5) are crooked guide rail, spraying assembly includes sliding arm (9), swinging boom (13) and flexible arm (10), sliding arm (9) cover is established guide rail (5) are gone up and can be followed guide rail (5) remove, swinging boom (13) cover is established sliding arm (9) are gone up and can be followed its axis and rotate, flexible arm (10) can be followed its axis direction and stretched out and drawn back, the one end of flexible arm (10) with swinging boom (13) are connected, the other end is equipped with fixture, the last spray gun (12) that are used for the spraying that are equipped with of fixture.
5. The pipe spray robot of claim 4, wherein: a second driving motor (14) for driving the sliding arm (9) to move along the guide rail (5) is arranged on the sliding arm (9), a gear (15) is arranged on an output shaft of the second driving motor (14), and a tooth surface (16) matched with the gear (15) is arranged on the guide rail (5); the sliding arm (9) is provided with a third driving motor (17) for driving the rotating arm (13) to rotate around the axis of the rotating arm, an output shaft of the third driving motor (17) is provided with a bevel gear (18), and the rotating arm (13) is provided with bevel teeth (19) which are meshed with the bevel gear (18).
6. The pipe spray robot of claim 1, wherein: and the first supporting piece (1) and the second supporting piece (2) are respectively provided with a supporting leg (20) which is used for supporting and contacting with the inner wall of the pipeline.
7. The pipe spray robot of claim 6, wherein: the supporting legs (20) are telescopic supporting legs.
8. A spraying method for the inner wall of a special-shaped variable cross-section bent pipeline is characterized by comprising the following steps:
the method comprises the following steps: middle section of spraying pipeline
Step 11) installing the pipe spraying robot as claimed in any one of claims 1 to 7 to an intermediate spraying section in the curved pipe with the variable cross-section;
step 12) adjusting the positions of the two ends of the guide rail (5) in the first arc-shaped track (3) and the second arc-shaped track (4) respectively and adjusting the position of the spraying assembly on the guide rail (5), and spraying the middle section in the special-shaped variable-section bent pipeline by using the spraying assembly;
step 13) dismantling the pipeline spraying robot in the middle spraying section under the clamping of the external mechanical arms at the two ends;
step two: spraying of both ends of the pipeline
And step 21) respectively spraying the spraying sections at the two ends of the pipeline by using a spray gun.
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| CN202110574192.7A CN113510028B (en) | 2021-05-25 | 2021-05-25 | Pipeline spraying robot and spraying method for inner wall of special-shaped variable-cross-section bent pipeline |
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| CN202110574192.7A CN113510028B (en) | 2021-05-25 | 2021-05-25 | Pipeline spraying robot and spraying method for inner wall of special-shaped variable-cross-section bent pipeline |
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| CN107081236A (en) * | 2017-06-13 | 2017-08-22 | 中国地质大学（北京） | A kind of draining box drain automatic spraying robot and its operating method |
| CN114182192B (en) * | 2021-12-21 | 2023-10-13 | 中国人民解放军陆军装甲兵学院 | High-speed arc machining device with self-moving function for inner wall of pipeline |
| CN115532489A (en) * | 2022-10-17 | 2022-12-30 | 河北捷瑞科技有限公司 | Cantilever supporting device for spraying inside steel pipe |
| CN116116594B (en) * | 2023-04-17 | 2023-06-27 | 山东之华管业有限公司 | Spraying device and spraying method for inner wall of groove pipe fitting |
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