CN106862192A - Remote control self-walking pipeline cleanser - Google Patents

Remote control self-walking pipeline cleanser Download PDF

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Publication number
CN106862192A
CN106862192A CN201510909446.0A CN201510909446A CN106862192A CN 106862192 A CN106862192 A CN 106862192A CN 201510909446 A CN201510909446 A CN 201510909446A CN 106862192 A CN106862192 A CN 106862192A
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CN
China
Prior art keywords
module
installation frame
remote control
fixed mount
electronic compartment
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Granted
Application number
CN201510909446.0A
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Chinese (zh)
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CN106862192B (en
Inventor
何震
李智刚
冯迎宾
何立岩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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Priority to CN201510909446.0A priority Critical patent/CN106862192B/en
Publication of CN106862192A publication Critical patent/CN106862192A/en
Application granted granted Critical
Publication of CN106862192B publication Critical patent/CN106862192B/en
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Anticipated expiration legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00Cleaning hollow articles by methods or apparatus specially adapted thereto
    • B08B9/02Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027Cleaning the internal surfaces; Removal of blockages
    • B08B9/04Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • B08B9/049Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled

Abstract

The present invention relates to a kind of pipeline cleanser, it is specifically a kind of to be applied to over long distances, the remote control self-walking pipeline cleanser of big-diameter pipeline cleaning, including water spray module, electronic compartment module and link, the water spray module is connected with electronic compartment module by link, the water spray module and electronic compartment module are equipped with installation frame body and drive wheel assemblies, travelling carriage is provided with the installation frame body, the drive wheel assemblies are provided with the swing rod and preloading spring depression bar for driving driving wheel to swing, the swing rod is hinged on installation frame body front end and is connected with the travelling carriage by the preloading spring depression bar, spray module is provided with the installation frame body of water spray module, underwater electronic compartment is provided with the installation frame body of electronic compartment module.The present invention has the advantages that operation distance, operating efficiency be high, cleaning quality is reliable, disclosure satisfy that the inner wall washing requirement of pipelines.

Description

Remote control self-walking pipeline cleanser
Technical field
It is specifically a kind of suitable for long range, the remote control self-walking pipeline cleanser of big-diameter pipeline cleaning the present invention relates to a kind of pipeline cleanser.
Background technology
Pipeline is seen everywhere in daily life, lives closely bound up with people.Water supply pipe, industrial pipeline etc. are situations such as often occurring serious fouling, corrosion after long-term use, pipeline can be caused to consume energy increase, the failures such as leakage damage are even produced, therefore, pipeline needs to carry out the maintenance works such as scale removal, reparation after long-term use.Regardless of whether which kind of maintenance work, is required for carrying out thoroughly cleaning to pipeline inside.For short distance, small diameter pipeline, can be cleaned by means such as bubble, ultrasonic waves, but for long range, the pipeline of Large Diameter Pipeline, the above method is because of the limitation of work capacity, it is impossible to complete effectively cleaning.Such as using artificial cleaning, then the problems such as labour intensity is big, operating efficiency is low, cleaning quality is unstable can be brought.
The content of the invention
It is an object of the invention to provide a kind of remote control self-walking pipeline cleanser, it is adaptable to over long distances, big-diameter pipeline cleaning, have the advantages that operation distance, operating efficiency be high, cleaning quality is reliable, disclosure satisfy that the inner wall washing requirement of pipelines.
The purpose of the present invention is achieved through the following technical solutions:
A kind of remote control self-walking pipeline cleanser, it is characterised in that:Including water spray module, electronic compartment module and link, the water spray module is connected with electronic compartment module by link, the water spray module and electronic compartment module are equipped with installation frame body and drive wheel assemblies, travelling carriage is provided with the installation frame body, the drive wheel assemblies are provided with the swing rod and preloading spring depression bar for driving driving wheel to swing, the swing rod is hinged on installation frame body front end and is connected with the travelling carriage by the preloading spring depression bar, spray module is provided with the installation frame body of water spray module, underwater electronic compartment is provided with the installation frame body of electronic compartment module.
The installation frame body includes preceding fixed mount, rear fixed mount and slide bar, the preceding fixed mount is connected with rear fixed mount by slide bar, the travelling carriage is arranged on slide bar, and underwater electric pull bar is provided with installation frame body, and the travelling carriage is by the underwater electric pull bar drives edge sliding bar.
The swing rod of the drive wheel assemblies is hinged on the preceding fixed mount, the swing rod middle part is connected by the preloading spring depression bar with the travelling carriage, the drive wheel assemblies are provided with driving wheel seat, the driving wheel seat is arranged on the swing rod, driving wheel is provided with the driving wheel seat, the motor for driving the driving wheel to rotate is provided with the driving wheel seat.
The preloading spring depression bar includes extensible member and preloading spring, and the extensible member two ends are provided with pressing plate, and the preloading spring is set on the extensible member, and the preloading spring two ends offset with the pressing plate at extensible member two ends.
The preceding fixed mount, travelling carriage and rear fixed mount are triangle platy structure, and a drive component and a underwater electric pull bar are equipped with per side.
The underwater electric pull bar is arranged on the preceding fixed mount.
The spray module includes sparge pipe, conveying water pipe, neatly ring, actuating sleeve, rotary sleeve and electric rotating machine, the conveying water pipe is packed in installation frame body and rearward end is connected with external water pipe, the leading section that the conveying water pipe extend out to installation frame body is provided with neatly ring and actuating sleeve, stationary ring on the inside of the neatly ring is connected with the conveying water pipe, rotary sleeve is arranged with the conveying water pipe, the rotary sleeve is driven by electric rotating machine and rotated, rotating ring on the outside of the neatly ring is connected by the actuating sleeve with the rotary sleeve, sparge pipe is provided with the rotating ring of the neatly ring.
The underwater electronic compartment is provided with watertight connector socket near one end of the water spray module, and power supply and control module are provided with inside the underwater electronic compartment.
The link includes three connecting rods between the connecting plate and connecting plate of both sides, and the key seat for installing connecting pin is equipped with each connecting plate.
Advantages of the present invention is with good effect:
1st, the drive wheel assemblies of amplitude-variable are equipped with spray water module and electronic compartment module of the invention, can be walked according to in-tube fouling degree real-time adjustment, and the swing rod that the present invention passes through preloading spring depression bar supporting strip driving wheel, if running into tube wall obstacle (weld seam, hole, seam) in operation, adaptability luffing can be automatically carried out.
2nd, water spray module of the invention can improve operating efficiency, reduce water consume, energy consumption according to scaling degree real-time adjustment sparge pipe rotary speed.
3rd, water spray module of the invention and electronic compartment module are connected by the link at middle part, and convenient partition passes through after can decoupling from positions such as active wells, and is re-assemblied inside pipeline, reduces the workload of pipe excavation.
Brief description of the drawings
Fig. 1 is structural representation of the invention,
Fig. 2 is the conveying water pipe scheme of installation in Fig. 1.
Wherein, 1 is neatly ring, and 2 is preceding fixed mount, and 3 is underwater electric pull bar, 4 is swing rod, and 5 to drive wheel seat, and 6 is preloading spring depression bar, and 7 is travelling carriage, 8 is rear fixed mount, and 9 is link, and 10 is underwater electronic compartment, and 11 is driving wheel, 12 is installing plate, and 13 is key seat, and 14 is watertight connector socket, and 15 is slide bar, 16 is electric rotating machine, and 17 is actuating sleeve, and 18 is sparge pipe, and 19 is conveying water pipe, 20 is sliding bearing, and 21 is rotary sleeve, and 22 is extensible member, and 23 is preloading spring.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Fig. 1~2, the present invention includes water spray module, electronic compartment module and link 9, the water spray module is connected with electronic compartment module by link 9, and the water spray module and electronic compartment module include installation frame body and drive wheel assemblies, and the drive wheel assemblies are arranged in the installation frame body.
As shown in Fig. 1~2, the installation frame body includes preceding fixed mount 2, fixed mount 8 afterwards, slide bar 15, travelling carriage 7 and underwater electric pull bar 3, the preceding fixed mount 2 is connected with rear fixed mount 8 by slide bar 15, in the present embodiment, three slide bars 3 are distributed between the preceding fixed mount 2 and rear fixed mount 8, the travelling carriage 7 is slidably mounted on the slide bar 3 between preceding fixed mount 2 and rear fixed mount 8, the underwater electric pull bar 3 is arranged on preceding fixed mount 2 and is connected with the travelling carriage 7, the underwater electric pull bar 3 can drive travelling carriage 7 to be moved along slide bar 3, in the present embodiment, the model XC7180 of the underwater electric pull bar 3, manufacturer is Centrino Electric Applicance Co., Ltd.
As shown in Fig. 1~2, the drive wheel assemblies include swing rod 4, drive wheel seat 5, preloading spring depression bar 6 and driving wheel 11, the swing rod 4 is hinged on the preceding fixed mount 2, described one end of preloading spring depression bar 6 is hinged on the travelling carriage 7, the other end is connected with the swing rod 4, the preloading spring depression bar 6 includes extensible member 22 and preloading spring 23, the two ends of the extensible member 22 are provided with pressing plate, the preloading spring 23 is set on the extensible member 22, and the two ends of preloading spring 23 offset with the pressing plate at the two ends of extensible member 22, wheel seat 5 is driven to be arranged on the swing rod 4, driving wheel 11 is provided with the driving wheel seat 5, in the present embodiment, the driving wheel 11 is glue coating wheel, being provided with motor in the driving wheel seat 5 drives the driving wheel 11 to rotate.When equipment works, underwater electric pull bar 3 drives travelling carriage 7 to slide, so that travelling carriage 7 drives the swing rod 4 to swing by the preloading spring depression bar 6, and then drives driving wheel 11 to swing, makes the driving wheel 11 with constant pressure compaction in inner-walls of duct.Preloading spring 23 on the preloading spring depression bar 6 still has larger flexible surplus when driving wheel 11 compresses tube wall, if so that device runs into tube wall obstacle (weld seam, hole, seam) in operation, can automatically carry out adaptability luffing.Three Underwater limit switches are mounted with preloading spring depression bar 6 and rear fixed mount 8, the spacing control to realize thrust for travelling carriage 7 on slide bar 15, it is ensured that the safety of equipment.The preceding fixed mount 2, travelling carriage 7 and rear fixed mount 8 are triangle platy structure, and a drive component and a underwater electric pull bar 3 are equipped with per side, there is three groups of drive components and three underwater electric pull bars 3 altogether.
The water spray module is provided with spray module,As shown in Fig. 1~2,The spray module includes sparge pipe 18,Conveying water pipe 19,Neatly ring 1,Actuating sleeve 17,Rotary sleeve 21 and electric rotating machine 16,An installing plate 12 is provided with the installation frame body of water spray module,The electric rotating machine 16 is arranged on the installing plate 12,Conveying water pipe 19 one end is fixed on the center of rear fixed mount 8,And be connected with external water pipe,The other end for conveying water pipe 19 then sequentially passes through the installing plate 12 and preceding fixed mount 2,Rotary sleeve 21 is provided between the preceding fixed mount 2 and installing plate 12,The rotary sleeve 21 is rotatably mounted around on conveying water pipe 19,Sliding bearing 20 is provided between the rotary sleeve 21 and conveying water pipe 19,The rotary sleeve 21 drives rotation by the electric rotating machine 16,In the present embodiment,The electric rotating machine 16 transmits torque by a gear drive,The leading section of fixed mount 2 is provided with neatly ring 1 and actuating sleeve 17 before the conveying water pipe 19 extend out to,The neatly ring 1 includes the rotating ring and stationary ring that are coaxially disposed,Wherein the stationary ring of the inner side of neatly ring 1 is connected with the conveying water pipe 19,The rotating ring in the outside of the neatly ring 1 is connected by the actuating sleeve 17 with the rotary sleeve 21,Rotary sleeve 21 rotates the rotating ring rotation for driving neatly ring 1,Radially mounted three sparge pipes 18 on the rotating ring of the neatly ring 1,Three sparge pipes 8 are uniformly distributed,Conveying water pipe 19 is sent in water to neatly ring 1,And ejection is rotated by three sparge pipes 8.
As shown in figure 1, being provided with underwater electronic compartment 10 in the electronic compartment module, watertight connector socket 14 is provided near one end of the water spray module in the underwater electronic compartment 10, power supply and control module are provided with inside the underwater electronic compartment 10.
The water spray module is connected with electronic compartment module by link 9, as shown in Figure 1, the link 9 includes three connecting rods between the connecting plate and connecting plate of both sides, and the key seat 13 for installing connecting pin is equipped with each connecting plate, the fast quick-detach of module and the electronic compartment module of can conveniently spraying water.
The accessories such as video camera, illuminating lamp can also be according to actual needs carried in the water spray module and electronic compartment module.
Operation principle of the invention is:
When equipment enters oral siphon, underwater electric pull bar 3 drives travelling carriage 7 to slide, so that travelling carriage 7 drives the swing rod 4 to swing by the preloading spring depression bar 6, and then drive driving wheel 11 to swing, make the driving wheel 11 with constant pressure compaction in inner-walls of duct, to produce enough normal pressures to produce enough driving forces for drive wheel assemblies, electric rotating machine 16 in module of being sprayed water during cleaning drives three rotary water jets of sparge pipe 18 on neatly ring 1, and rinse water is transmitted to the neatly ring 1 due to the conveying water pipe 19 that external water pipe is connected.

Claims (9)

1. a kind of remote control self-walking pipeline cleanser, it is characterised in that:Including water spray module, Electronic compartment module and link (9), the water spray module and electronic compartment module pass through link (9) It is connected, the water spray module and electronic compartment module are equipped with installation frame body and drive wheel assemblies, institute State and be provided with installation frame body travelling carriage (7), the drive wheel assemblies are provided with drive driving wheel (11) The swing rod (4) and preloading spring depression bar (6) of swing, the swing rod (4) are hinged on mounting bracket Body front end is simultaneously connected by the preloading spring depression bar (6) with the travelling carriage (7), in spray Spray module is provided with the installation frame body of water module, is provided with the installation frame body of electronic compartment module Underwater electronic compartment (10).
2. remote control self-walking pipeline cleanser according to claim 1, its feature exists In:The installation frame body includes preceding fixed mount (2), rear fixed mount (8) and slide bar (15), The preceding fixed mount (2) is connected with rear fixed mount (8) by slide bar (15), the slip Frame (7) is provided with underwater electric pull bar (3) on slide bar (15) in installation frame body, The travelling carriage (7) is slided by the underwater electric pull bar (3) drives edge slide bar (15).
3. remote control self-walking pipeline cleanser according to claim 2, its feature exists In:The swing rod (4) of the drive wheel assemblies is hinged on the preceding fixed mount (2), described Swing rod (4) middle part is connected by the preloading spring depression bar (6) with the travelling carriage (7), The drive wheel assemblies are provided with driving wheel seat (5), and driving wheel seat (5) is installed in described On swing rod (4), driving wheel (11) is provided with driving wheel seat (5), in the drive The motor for driving the driving wheel (11) to rotate is provided with driving wheel seat (5).
4. remote control self-walking pipeline cleanser according to claim 3, its feature exists In:The preloading spring depression bar (6) includes extensible member (22) and preloading spring (23), institute State extensible member (22) two ends and be provided with pressing plate, the preloading spring (23) is set in described flexible On part (22), and the preloading spring (23) two ends and extensible member (22) two ends pressing plate Offset.
5. remote control self-walking pipeline cleanser according to claim 2, its feature exists In:The preceding fixed mount (2), travelling carriage (7) and rear fixed mount (8) are triangular plate Shape structure, a drive component and a underwater electric pull bar (3) are equipped with per side.
6. remote control self-walking pipeline cleanser according to claim 2, its feature exists In:The underwater electric pull bar (3) is on the preceding fixed mount (2).
7. remote control self-walking pipeline cleanser according to claim 1, its feature exists In:The spray module include sparge pipe (18), conveying water pipe (19), neatly ring (1), Actuating sleeve (17), rotary sleeve (21) and electric rotating machine (16), conveying water pipe (19) It is packed in installation frame body and rearward end is connected with external water pipe, conveying water pipe (19) The leading section for extending out to installation frame body is provided with neatly ring (1) and actuating sleeve (17), the neatly Stationary ring on the inside of ring (1) is connected with conveying water pipe (19), in conveying water pipe (19) On be arranged with rotary sleeve (21), the rotary sleeve (21) is driven by electric rotating machine (16) Rotation, the rotating ring on the outside of the neatly ring (1) is by the actuating sleeve (17) and the rotation Pivoted housing (21) is connected, and sparge pipe (18) is provided with the rotating ring of the neatly ring (1).
8. remote control self-walking pipeline cleanser according to claim 1, its feature exists In:The underwater electronic compartment (10) is provided with watertight connector near one end of the water spray module Socket (14), power supply and control module are provided with inside the underwater electronic compartment (10).
9. remote control self-walking pipeline cleanser according to claim 1, its feature exists In:Three connecting rods between connecting plate and connecting plate of the link (9) including both sides, The key seat (13) for installing connecting pin is equipped with each connecting plate.
CN201510909446.0A 2015-12-10 2015-12-10 Remote control self-walking pipeline cleanser Active CN106862192B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510909446.0A CN106862192B (en) 2015-12-10 2015-12-10 Remote control self-walking pipeline cleanser

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Application Number Priority Date Filing Date Title
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CN106862192A true CN106862192A (en) 2017-06-20
CN106862192B CN106862192B (en) 2019-04-23

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20060102573A (en) * 2005-03-24 2006-09-28 덕원산업개발주식회사 Washing apparatus to remove a scale being the inside of pipe using powerless revolution
KR100856801B1 (en) * 2007-06-11 2008-09-05 주식회사 두배시스템 Robot for internal inspection pipelines having steering device
CN201427125Y (en) * 2009-03-31 2010-03-24 王成军 Pipe scale removal robot
CN104896258A (en) * 2015-05-13 2015-09-09 上海宇航系统工程研究所 Self-adaptive wheel type pipe inner moving device
CN204710807U (en) * 2015-04-29 2015-10-21 北京石油化工学院 A kind of tube cleaning arrangement
CN205253670U (en) * 2015-12-10 2016-05-25 中国科学院沈阳自动化研究所 Self -propelled pipeline cleaning equipment of remote control

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20060102573A (en) * 2005-03-24 2006-09-28 덕원산업개발주식회사 Washing apparatus to remove a scale being the inside of pipe using powerless revolution
KR100856801B1 (en) * 2007-06-11 2008-09-05 주식회사 두배시스템 Robot for internal inspection pipelines having steering device
CN201427125Y (en) * 2009-03-31 2010-03-24 王成军 Pipe scale removal robot
CN204710807U (en) * 2015-04-29 2015-10-21 北京石油化工学院 A kind of tube cleaning arrangement
CN104896258A (en) * 2015-05-13 2015-09-09 上海宇航系统工程研究所 Self-adaptive wheel type pipe inner moving device
CN205253670U (en) * 2015-12-10 2016-05-25 中国科学院沈阳自动化研究所 Self -propelled pipeline cleaning equipment of remote control

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