CN108672423A - A kind of pipeline cleaning system and cleaning method based on unpowered pipeline cleaning robot - Google Patents
A kind of pipeline cleaning system and cleaning method based on unpowered pipeline cleaning robot Download PDFInfo
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- CN108672423A CN108672423A CN201810654581.9A CN201810654581A CN108672423A CN 108672423 A CN108672423 A CN 108672423A CN 201810654581 A CN201810654581 A CN 201810654581A CN 108672423 A CN108672423 A CN 108672423A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/053—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved along the pipes by a fluid, e.g. by fluid pressure or by suction
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Abstract
The present invention discloses a kind of pipeline cleaning system and cleaning method based on unpowered pipeline cleaning robot, the system includes unpowered pipeline cleaning robot, water pump, water reservoir, flow sensor and feedback control system, unpowered pipeline cleaning robot is placed in pipeline to be cleaned, water pump one end and one end of pipeline to be cleaned connect, the other end is connect with water reservoir, the other end of pipeline to be cleaned is connect also by water pipe with water reservoir, and the both ends of pipeline to be cleaned are respectively provided with flow sensor；Feedback control system includes frequency converter, PLC and alarm, and frequency converter is electrically connected with water pump and PLC, and flow sensor and alarm are also electrically connected with PLC；Unpowered pipeline cleaning robot includes axial-flow pump impeller, axial-flow pump impeller support component, robot shells, deflecting wheel mechanism, wiper mechanism, auxiliary wheel mechanism and cutting impeller.Inventive pipeline cleaning performance is good, it is adaptable, without internal drive and apparatus structure it is simple.
Description
Technical field
The present invention relates to pipeline cleaning technical field more particularly to a kind of pipelines based on unpowered pipeline cleaning robot
Cleaning system and cleaning method.
Background technology
Important carrier of the pipeline as oil gas long distance delivery, managing deposition, the corrosion etc. of interior impurity can cause to block up to pipeline
Plug and damage, if cleaning the efficiency and safety that will influence conduit running on pipeline not in time.However residing for pipeline
Environment is not easy directly to reach or does not allow people to be directly entered, and cleaning difficulty is very big.
In the prior art, pipeline cleaning mainly uses the flushing of high pressure water physics, medicament wash cycles, Large Diameter Pipeline manually to clean
And the modes such as pipeline cleaning robot.The flushing manipulation of high pressure water physics is more difficult, and cleaning is insufficient；Medicament wash cycles can be to pipeline
Surface causes to damage, and reduces pipeline life；Artificial cleaning efficiency is low, and cleaning performance is bad；Although pipeline cleaning robot can
To clean the pipeline of different tube diameters, applicability is wide, but generally existing is complicated, needs internal drive or external drive, failure
The shortcomings of rate is high.
Invention content
In view of the deficiencies of the prior art, the present invention proposes a kind of pipeline cleaning system based on unpowered pipeline cleaning robot
System and cleaning method, specific technical solution are as follows：
A kind of pipeline cleaning system based on unpowered pipeline cleaning robot, which is characterized in that the system includes without dynamic
Hydraulic piping cleaning robot, water pump, water reservoir, flow sensor and feedback control system, the unpowered pipeline cleaning
Robot is placed in pipeline to be cleaned, and described water pump one end is connect with one end of the pipeline to be cleaned, the other end with
The water reservoir connection, the other end of the pipeline to be cleaned are connect also by water pipe with water reservoir, and described waits for
The both ends of Cleaning pipes are respectively provided with the flow sensor；The feedback control system includes frequency converter, PLC and alarm
Device, the frequency converter are electrically connected with the water pump and PLC, and the flow sensor and alarm are also electrically connected with PLC；
The unpowered pipeline cleaning robot includes axial-flow pump impeller, axial-flow pump impeller support component, outside robot
Shell, deflecting wheel mechanism, wiper mechanism, auxiliary wheel mechanism and cutting impeller, the robot shells are cylinder, the axis
Stream impeller of pump and cutting impeller are arranged in the both ends of the robot shells, the deflecting wheel mechanism, wiper mechanism,
Auxiliary wheel mechanism is axially disposed in successively on the circumference of the robot shells；The robot shells are by three 120 °
Identical arc-shaped shell assemble, deflecting wheel mechanism, wiper mechanism, an auxiliary turbine are arranged on each shell
Structure.
Preferably, the both ends of the robot shells are provided with through-hole, and the cylindrical surface of shell is axially inwardly provided with two
Boss of the group with through-hole, there are three every group, the wiper mechanism, auxiliary wheel mechanism are sequentially arranged in two groups of boss.
Preferably, the axial-flow pump impeller support component includes axial-flow pump impeller axis and main shaft, the axial-flow pump leaf
The through-hole that wheel shaft left end stretches out the robot shells is fixedly connected with axial-flow pump impeller, and axial-flow pump impeller axis and main shaft are outside
It is fixedly connected in shell, the right end of main shaft stretches out shell and is fixedly connected with cutting impeller.
Preferably, the deflecting wheel mechanism includes deflecting wheel wheel carrier supporting rod, deflecting wheel wheel carrier, deflecting wheel and deflecting wheel
Deflecting wheel is installed in spring, described deflecting wheel wheel carrier one end, and the other end is rotatably connected in robot shells, the deflecting
Wheel wheel carrier supporting rod one end is rotatably connected with robot shells, the covert wheel wheel carrier and deflecting wheel wheel carrier supporting rod and institute
The line of the tie point for the robot shells stated and the axial direction of shell are in the angle of setting, deflecting wheel wheel carrier support
The other end of bar offers sliding groove, and the deflecting wheel spring is embedded in the sliding groove, the deflecting wheel wheel carrier branch
The other end of strut is rotatable with deflecting wheel wheel carrier and moves connection, and deflecting wheel wheel carrier supporting rod passes through compression deflecting wheel bullet
Spring adapts to the pipeline of different-diameter.
Preferably, the wiper mechanism includes cleaning brush, cleaning rod and wiper mechanism spring, the wiper mechanism bullet
Spring is positioned in the through-hole of the boss, and lower end is fixed by endcap support；The cleaning rod is T shapes, and institute is fixed in one end
The cleaning brush stated, the other end deeply compress wiper mechanism spring in the through-hole of the boss.
Preferably, the auxiliary wheel mechanism includes auxiliary wheel, auxiliary wheel wheel carrier and auxiliary wheel spring, the auxiliary wheel
Spring is placed in the through-hole of the boss, and through-hole compressed spring is goed deep into one end of the auxiliary wheel wheel carrier, and the other end is stretched
Go out by installing auxiliary wheel.
Preferably, the blade edge of the cutting impeller installs blade.
A kind of cleaning method of pipeline cleaning system as described above, which is characterized in that this method specifically includes following step
Suddenly：
S：The PLC sends out clear instruction, controls the water pump and opens, tube cleaning arrangement water flowing, water pushes nothing
The rotation of the axial-flow pump impeller of power conduit cleaning robot, while generating rotation axle thrust and robot is pushed to advance, while with
The cutting impeller of axial-flow pump impeller coaxial rotating carries out circumgyration incision in the duct；Deflecting wheel mechanism side advance sideband moves entire machine
Device people rotates, while wiper mechanism carries out rotary-cleaning, and the flow sensor monitors the flow velocity of pipeline to be cleaned in real time, and
Feed back to the PLC；
S：The PLC receives real-time flow rate signal, and is compared with parameter preset threshold value, is adjusted by calculating output
Signal, if flow velocity within parameter preset threshold value, is maintained the statusquo without adjusting；If flow velocity has exceeded predetermined threshold value, count
It calculates, output regulation signal；
S：The output signal of the frequency converter real-time reception PLC, is adjusted the rotating speed of water pump, when being adjusted
When, if the rotating speed of water pump is more than 2 times of rated speed, carry out stopping alarm operation；If rotating speed is normal, normal fortune is kept
Row is shut down until pipeline cleaning terminates.
Compared with prior art, beneficial effects of the present invention are as follows：
The present invention cleverly combines the Some principles of high pressure water physics flushing, in conjunction with pipeline cleaning robot, has pipe
Road cleaning performance is good, it is adaptable, without internal drive robot, apparatus structure is simple the features such as；Before unique rotation
Into mode, can advance while inner wall of the pipe is thoroughly cleaned.
Description of the drawings
Fig. 1 is the schematic three dimensional views of unpowered pipeline cleaning robot；
Fig. 2 is the sectional view of unpowered pipeline cleaning robot；
Fig. 3 is the side view of unpowered pipeline cleaning robot；
Fig. 4 is a kind of structure chart of pipeline cleaning system；
Fig. 5 is the flow chart of pipeline cleaning method；
In figure, 1- is unpowered pipeline cleaning robot, 2- pipeline to be cleaned, 3- water pumps, 4- water pipes, the ponds 5-, 6- flow velocitys
Sensor, 7- frequency converters, 8-PLC, 9- touch screens, 10- alarms, 101- axial-flow pump impellers, 102- axial-flow pump impeller support groups
Part, 1021- shaft end rings, 1022- axial-flow pump impeller axis, 1023- main shafts, 103- robot shells, 104- deflecting wheels mechanism,
1041- deflecting wheel wheel carrier supporting rods, 1042- deflecting wheel wheel carriers, 1043- deflecting wheels, 1044- deflecting wheel springs, 105- cleaning machines
Structure, 1051- cleaning brush, 1052- cleaning rods, 1053- wiper mechanism springs, 106- auxiliary wheel mechanisms, 1061- auxiliary wheels, 1062-
Auxiliary wheel wheel carrier, 1063- auxiliary wheel springs, 107- cutting impellers.
Specific implementation mode
Below according to attached drawing and the preferred embodiment detailed description present invention, the objects and effects of the present invention will become brighter
In vain, below in conjunction with drawings and examples, the present invention will be described in further detail.It should be appreciated that described herein specific
Embodiment is only used to explain the present invention, is not intended to limit the present invention.
As shown in Figs. 1-3, a kind of unpowered pipeline cleaning robot comprising axial-flow pump impeller 101, axial-flow pump impeller branch
Support component 102, robot shells 103, deflecting wheel mechanism 104, wiper mechanism 105, auxiliary wheel mechanism 106 and cutting impeller 107；
Robot shells 103 are cylinder, are assembled by three 120 ° of identical arc-shaped shell, both ends are opened respectively
There are through-hole, the cylindrical surface of shell to be axially inwardly provided with two groups of boss with through-hole, there are three every group, the wiper mechanism
105, auxiliary wheel mechanism 106 is sequentially arranged in two groups of boss, therefore, there are three wiper mechanism 105, auxiliary wheel mechanism 106 are each.
Axial-flow pump impeller support component 102 includes axial-flow pump impeller axis 1022 and main shaft 1023, the axial-flow pump impeller axis
1022 and main shaft 1023 be fixed in through-hole by a pair of of taper roll bearing, a set of cups and bearing (ball) cover respectively, axial-flow pump impeller
1022 left end of axis stretches out through-hole and passes through key connection with axial-flow pump impeller 101；
Axial-flow pump impeller 101 is fixed on by shaft end ring 1021 on axial-flow pump impeller axis 1022, axial-flow pump impeller axis
1022 right ends are connect with main shaft 1023 by shaft coupling；1023 right end of the main shaft stretches out robot shells 103, is arranged on it
There are cutting impeller 107,107 right end of the cutting impeller to be fixed by shaft end ring；
Deflecting wheel mechanism 104 is also 3, is uniformly mounted in robot shells 103, including deflecting wheel wheel carrier supporting rod
1041, deflecting wheel wheel carrier 1042, deflecting wheel 1043 and deflecting wheel spring 1044, described covert 1042 one end of wheel wheel carrier are hinged on machine
On device people shell 103, the other end is equipped with deflecting wheel 1043 by wheel shaft, and described 1041 one end of deflecting wheel wheel carrier supporting rod is hinged
In robot shells 103, the other end is mounted on the stage casing of deflecting wheel wheel carrier 1042, the deflecting wheel wheel carrier supporting rod 1041
Deflecting wheel spring 1044 is inside installed, has a thin bar, this thin bar to pass through deflecting wheel on the stage casing of the deflecting wheel wheel carrier 1042
Wheel carrier supporting rod 1041, and the compressible deflecting wheel spring 1044, allow deflecting wheel wheel carrier 1042 to carry out rotation adjusting；
Deflecting wheel mechanism 104 deflects certain angle and places, i.e., in a disguised form takes turns wheel carrier 1042 and deflecting wheel wheel carrier supporting rod 1041
It is at an angle with the axial direction of the line and shell 103 of the tie point of the robot shells 103, so as to become
To wheel 1043 and the angled placement of conduit axis, inner wall of the pipe is held out against, when 1 stress of unpowered pipeline cleaning robot is along pipe
When road advances, three deflecting wheels 1043 advance along inclined angle close to inner wall of the pipe, and entire advance circuit is helically
Line, to during robot moves ahead, achieve the effect that rotate in advance；It, can under the promotion of axial-flow pump impeller 101
It is rotationally advancing with unpowered.And when caliber change, by changing deflecting wheel wheel carrier supporting rod 1041 to deflecting wheel spring 1044
Compression degree can control the flexible of deflecting wheel 1043, so that deflecting wheel 1043 is held out against the inner wall in pipeline to be cleaned always.
Wiper mechanism 105 includes cleaning brush 1051, cleaning rod 1052 and wiper mechanism spring 1053, wiper mechanism spring
1053 are placed in through-hole, and lower end is fixed by endcap support, and cleaning rod 1052 is mounted on outside robot shells 103, and one end is worn
It crosses through-hole and compresses wiper mechanism spring 1053, the other end of cleaning rod 1052 fixes cleaning brush 1051；Auxiliary wheel mechanism 106 wraps
Auxiliary wheel 1061, auxiliary wheel wheel carrier 1062 and auxiliary wheel spring 1063 are included, auxiliary wheel spring 1063 is placed in through-hole, auxiliary wheel
One end of wheel carrier 1062 passes through through-hole and compresses auxiliary wheel spring 1063, and the other end of auxiliary wheel wheel carrier 1062 is installed by wheel shaft
There is auxiliary wheel 1061.
The blade edge of the cutting impeller 107 carries blade, can be cut to the twister in pipeline.
The unpowered pipe robot work step is as follows：
Fluids within pipes conveying push axial-flow pump impeller 101 rotation, while generate rotation axle thrust push robot before
Into, while the cutting impeller 107 coaxial with the axial-flow pump impeller 101 carries out circumgyration incision in the duct；The deflecting turbine
104 side advance sideband of structure moves entire robot rotation, while wiper mechanism 105 while rotating carries out clearly inner wall of the pipe
It washes.
As shown in figure 4, a kind of pipeline cleaning system, which includes above-mentioned unpowered pipeline cleaning robot 1, water pump
3, pond 5, flow sensor 6 and feedback control system, unpowered pipeline cleaning robot 1 are placed in pipeline to be cleaned 2, water
Pump 3 one end to connect with one end of pipeline to be cleaned 2, the other end and pond 5, the other end of pipeline to be cleaned 2 also by water pipe 4 with
Pond 5 connects, and the both ends of pipeline to be cleaned 2 are respectively provided with flow sensor 6；Feedback control system includes frequency converter 7, PLC 8, touches
It touches screen 9 and alarm 10, frequency converter 7 is electrically connected with water pump 3 and PLC8, flow sensor 6 and alarm 10 are also electrically connected with PLC 8
It connects.
The cleaning performance of pipeline is related with the flow rate of fluids within pipes and Reynolds number；It is more than 2m/s when rinsing rate,
And Reynolds number be more than 4000 when, the cleaning performance of pipeline is best.And Reynolds number is a kind of to can be used to characterize fluid mobility status
Dimensionless number.Re=ρ vd/ μ, wherein v, ρ, μ are respectively flow velocity, density and the viscosity coefficient of fluid, and d is a characteristic length.When
When pipe diameter is constant and fluids within pipes type is constant, Reynolds number is just related with the flow velocity of fluid, can by coutroi velocity
To change Reynolds number.
Flow velocity in pipeline is related with the rotating speed of pump：
It obtains：
ByIt obtains：
It can be derived by (2), (3)：
It needs to meet simultaneously：
So by (4), (5) formula, in pump work, the rotating speed n of work need to meet two conditions simultaneously
Flow can be controlled by adjusting the rotating speed of pump, to the flow velocity of fluid in control pipeline.Work as Reynolds number
Re≤ 4000 or flow velocity ν≤2m/s, revolution speed n will increase, ReIncrease therewith with ν；As Reynolds number Re>=4000 or flow velocity ν >=2m/
S, revolution speed n will reduce, ReReduce therewith with ν.
PLC 8 carries PID regulator function, and PID, which can be completed, using instruction guide programs, and passes through the PID of programming software
Adjusting control panel on-line debugging function can adjust out suitable pid parameter, to obtain good closed loop regulating effect, make
With very convenient.Flow velocity in collected pipeline is transmitted to Analog input mModule by flow sensor 6, which completes A/
By digital quantity storage to designated position after D conversions, by central processing unit extraction data carry out PID arithmetic, state analysis and other
Processing, PID calculate controlled quentity controlled variable and send frequency converter 7 to by analog output module；The frequency converter 7 passes through electric wire and water pump
3 are connected, and are adjusted in real time to rotating speed according to the data received；The touch screen 9 realizes human-computer interaction, real-time display pipeline
The status information of interior flow velocity, monitoring personnel can also be arranged various parameters by touch screen 9, modify to working condition, and
The operations such as started, stopped；The alarm 10, when device appearance cannot automatically adjust reparation, triggering is alarmed and is implemented
Forced stoppage operates.
The cleaning method of the pipeline cleaning system specifically comprises the following steps (as shown in Figure 5)：
S1：The PLC8 sends out clear instruction, controls the water pump 3 and opens, tube cleaning arrangement water flowing, water pushes
The rotation of the axial-flow pump impeller 101 of unpowered pipeline cleaning robot 1, while generating rotation axle thrust and robot is pushed to advance,
Circumgyration incision is carried out in the duct with the cutting impeller 107 of 101 coaxial rotating of axial-flow pump impeller simultaneously；104 side of deflecting wheel mechanism
Advance sideband moves entire robot rotation, while wiper mechanism 105 carries out rotary-cleaning, and the flow sensor 6 is supervised in real time
The flow velocity of pipeline to be cleaned is surveyed, and feeds back to the PLC8；
S2：The PLC8 receives real-time flow rate signal, and is compared with parameter preset threshold value, is adjusted by calculating output
Signal is saved, if flow velocity within parameter preset threshold value, is maintained the statusquo without adjusting；If flow velocity has exceeded predetermined threshold value,
It calculates, output regulation signal；
S3：The output signal of the 7 real-time reception PLC8 of frequency converter, is adjusted the rotating speed of water pump 3, when being adjusted
When section, if the rotating speed of water pump 3 is more than 2 times of rated speed, stopping alarm operation is carried out, if pump rotary speed is excessively high, can be caused
The excess load of motor and water pump delivers, and vibration is caused to aggravate, and efficiency reduces, the harm such as reduced service life；If rotating speed is normal,
Normal operation is kept, until pipeline cleaning terminates, is shut down.
It will appreciated by the skilled person that the foregoing is merely the preferred embodiment of invention, it is not used to limit
System invention, although invention is described in detail with reference to previous examples, for those skilled in the art, still
It can modify to the technical solution of aforementioned each case history or equivalent replacement of some of the technical features.It is all
Within the spirit and principle of invention, modification, equivalent replacement for being made etc. should be included within the protection domain of invention.
Claims (8)
1. a kind of pipeline cleaning system based on unpowered pipeline cleaning robot, which is characterized in that the system includes unpowered
Pipeline cleaning robot (1), water pump (3), water reservoir (5), flow sensor (6) and feedback control system, the nothing are dynamic
Hydraulic piping cleaning robot (1) is placed in pipeline to be cleaned, the water pump (3) one end and the one of the pipeline to be cleaned
End connection, the other end are connect with the water reservoir (5), and the other end of the pipeline to be cleaned is also by water pipe and water
Device (5) connects, and the both ends of the pipeline to be cleaned are respectively provided with the flow sensor (6)；The feedback control system
System includes frequency converter (7), PLC (8) and alarm (10), and the frequency converter (7) is electrically connected with the water pump (3) and PLC (8)
It connects, the flow sensor (6) and alarm (10) are also electrically connected with PLC (8).
The unpowered pipeline cleaning robot (1) include axial-flow pump impeller (101), axial-flow pump impeller support component (102),
Robot shells (103), deflecting wheel mechanism (104), wiper mechanism (105), auxiliary wheel mechanism (106) and cutting impeller (107),
The robot shells (103) are cylinder, and the axial-flow pump impeller (101) and cutting impeller (107) is arranged in
The both ends of the robot shells (103), the deflecting wheel mechanism (104), wiper mechanism (105), auxiliary wheel mechanism
(106) it is axially disposed in successively on the circumference of the robot shells (103)；The robot shells (103) are by three
A 120 ° of identical arc-shaped shell assembles, and deflecting wheel mechanism (104), a wiper mechanism are arranged on each shell
(105), auxiliary wheel mechanism (106).
2. the pipeline cleaning system according to claim 1 based on unpowered pipeline cleaning robot, which is characterized in that institute
The both ends for the robot shells (103) stated are provided with through-hole, and the cylindrical surface of shell is axially inwardly provided with two groups with the convex of through-hole
Platform, there are three every group, the wiper mechanism (105), auxiliary wheel mechanism (106) are sequentially arranged in two groups of boss.
3. the pipeline cleaning system according to claim 1 based on unpowered pipeline cleaning robot, which is characterized in that institute
The axial-flow pump impeller support component (102) stated includes axial-flow pump impeller axis (1022) and main shaft (1023), the axial-flow pump leaf
The through-hole that wheel shaft (1022) left end stretches out the robot shells (103) is fixedly connected with axial-flow pump impeller (101), axial-flow pump
Impeller axle (1022) and main shaft (1023) are fixedly connected in shell (103), the right end of main shaft (1023) stretch out shell (103) with
Cutting impeller (107) is fixedly connected.
4. the pipeline cleaning system according to claim 1 based on unpowered pipeline cleaning robot, which is characterized in that institute
The deflecting wheel mechanism (104) stated include deflecting wheel wheel carrier supporting rod (1041), deflecting wheel wheel carrier (1042), deflecting wheel (1043) and
Deflecting wheel (1043) is installed in deflecting wheel spring (1044), described deflecting wheel wheel carrier (1042) one end, and the other end is rotatably connected
In robot shells (103), described deflecting wheel wheel carrier supporting rod (1041) one end rotatably connects with robot shells (103)
It connects, the company of covert wheel wheel carrier (1042) and deflecting wheel wheel carrier supporting rod (1041) and the robot shells (103)
The line of contact and the axial direction of shell (103) in setting angle, the deflecting wheel wheel carrier supporting rod (1041) it is another
One end offers sliding groove, and the deflecting wheel spring (1044) is embedded in the sliding groove, the deflecting wheel wheel carrier branch
The other end of strut (1041) is rotatable with deflecting wheel wheel carrier (1042) and moves connection, and deflecting wheel wheel carrier supporting rod
(1041) pipeline of different-diameter is adapted to by compressing deflecting wheel spring (1044).
5. the pipeline cleaning system according to claim 2 based on unpowered pipeline cleaning robot, which is characterized in that institute
The wiper mechanism (105) stated includes cleaning brush (1051), cleaning rod (1052) and wiper mechanism spring (1053), the cleaning
Mechanism spring (1053) is positioned in the through-hole of the boss, and lower end is fixed by endcap support；The cleaning rod
(1052) it is T shapes, the cleaning brush (1051) is fixed in one end, and the other end deeply compresses cleaning machine in the through-hole of the boss
Structure spring (1053).
6. the pipeline cleaning system based on unpowered pipeline cleaning robot according to claim 2 or 5, feature exist
In, the auxiliary wheel mechanism (106) include auxiliary wheel (1061), auxiliary wheel wheel carrier (1062) and auxiliary wheel spring (1063),
The auxiliary wheel spring (1063) is placed in the through-hole of the boss, and one end of the auxiliary wheel wheel carrier (1062) is deep
Enter through-hole compressed spring, the other end protrudes through installation auxiliary wheel (1061).
7. the pipeline cleaning system according to claim 6 based on unpowered pipeline cleaning robot, which is characterized in that institute
The blade edge for the cutting impeller (107) stated installs blade.
8. a kind of cleaning method of pipeline cleaning system as described in claim 1, which is characterized in that this method specifically include as
Lower step：
S1：The PLC (8) sends out clear instruction, controls the water pump (3) and opens, tube cleaning arrangement water flowing, water pushes
The rotation of the axial-flow pump impeller (101) of unpowered pipeline cleaning robot (1), at the same generate rotation axle thrust push robot before
Into, while circumgyration incision is carried out in the duct with the cutting impeller (107) of axial-flow pump impeller (101) coaxial rotating；Deflecting turbine
Structure (104) side advance sideband moves entire robot rotation, while wiper mechanism (105) carries out rotary-cleaning, and the flow velocity passes
Sensor (6) monitors the flow velocity of pipeline to be cleaned in real time, and feeds back to the PLC (8)；
S2：The PLC (8) receives real-time flow rate signal, and is compared with parameter preset threshold value, is adjusted by calculating output
Signal, if flow velocity within parameter preset threshold value, is maintained the statusquo without adjusting；If flow velocity has exceeded predetermined threshold value, count
It calculates, output regulation signal；
S3：The output signal of frequency converter (7) the real-time reception PLC (8), is adjusted the rotating speed of water pump (3), works as progress
When adjusting, if the rotating speed of water pump (3) is more than 2 times of rated speed, stopping alarm operation is carried out；If rotating speed is normal, keep
Normal operation is shut down until pipeline cleaning terminates.
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| CN201810654581.9A CN108672423B (en) | 2018-06-22 | 2018-06-22 | Pipeline cleaning system and cleaning method based on unpowered pipeline cleaning robot |
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| CN201810654581.9A CN108672423B (en) | 2018-06-22 | 2018-06-22 | Pipeline cleaning system and cleaning method based on unpowered pipeline cleaning robot |
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| CN108672423B CN108672423B (en) | 2023-04-07 |
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| CN109827029A (en) * | 2019-04-17 | 2019-05-31 | 哈尔滨工业大学（威海） | One kind being based on controllable pitch propeller formula combination drive pipe robot |
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| CN112742809A (en) * | 2020-12-14 | 2021-05-04 | 北京蓝星清洗有限公司 | Pipe cleaner control tracking system and method |
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| CN114618844A (en) * | 2022-03-15 | 2022-06-14 | 上海工程技术大学 | Cleaning device for petroleum conveying pipeline |
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