CN111896283B - Comprehensive performance test experiment system of pipeline dust cleaning robot - Google Patents

Comprehensive performance test experiment system of pipeline dust cleaning robot Download PDF

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Publication number
CN111896283B
CN111896283B CN202010637079.4A CN202010637079A CN111896283B CN 111896283 B CN111896283 B CN 111896283B CN 202010637079 A CN202010637079 A CN 202010637079A CN 111896283 B CN111896283 B CN 111896283B
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China
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pipeline
driving
cleaning
cleaning device
driving device
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CN111896283A (en
Inventor
卿兆波
赵明岩
童仁园
孙叶青
施阁
陈三强
牟杰
胡斯源
李青
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Zhejiang Academy Of Safety Science And Technology
China Jiliang University
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Zhejiang Academy Of Safety Science And Technology
China Jiliang University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M99/00—Subject matter not provided for in other groups of this subclass
    • G01M99/005—Testing of complete machines, e.g. washing-machines or mobile phones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0095—Means or methods for testing manipulators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M99/00—Subject matter not provided for in other groups of this subclass
    • G01M99/008—Subject matter not provided for in other groups of this subclass by doing functionality tests
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/10—Treating the inside of pipes
    • F16L2101/12—Cleaning

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Robotics (AREA)
  • Cleaning In General (AREA)

Abstract

The invention discloses a comprehensive performance test experimental system of a pipeline dust cleaning robot. Mainly constitute by test pipeline and intraductal air current parameter testing arrangement, test pipeline mainly is by a plurality of horizontal pipeline sections, a plurality of elbows, a plurality of perpendicular pipelines are connected in turn and are constituted, make the bauhinia of pipeline change, the pipeline all adopts transparent material, pipeline deashing robot gets into test pipeline and removes along the pipeline wherein, the entry installation entry filter screen of test pipeline, the exit erection joint of test pipeline has dust remover and dust exhausting fan, the installation is used for temperature in the test pipeline, pressure, air velocity, humidity measurement's intraductal air current parameter testing arrangement. The invention is mainly used for testing the comprehensive performance and the air flow parameters in the pipe of the pipe ash cleaning robot and accurately obtaining the optimal operation condition and the operation capability of the pipe ash cleaning robot.

Description

Comprehensive performance test experiment system of pipeline dust cleaning robot
Technical Field
The invention relates to a pipeline robot test system, in particular to a pipeline dust cleaning robot comprehensive performance test experimental system.
Background
Flammable dust removal pipeline cleaning is a dangerous task. If the manual cleaning mode is adopted in the dust cleaning operation in the pipe, the operation intensity is high, the operation condition is severe, the operation range is limited, and the operation result is not easy to detect. Therefore, the designed combustible dust pipeline dust cleaning robot has good engineering value, commercial value and social value. The existing pipeline cleaning robot usually adopts a mode of leading in electric energy or generating electric energy by itself from a high-energy battery and a cable type, high electric energy is formed inside an operation dust pipeline to be gathered, potential great risks are brought to the cleaning of a combustible dust pipeline, and the prior art is not only short of a passive-driven pipeline dust cleaning robot but also short of a testing system of the pipeline robot. The site dust removal environment and the safety level of combustible dust industrial enterprises put higher requirements on the working capacity of the pipeline dust cleaning robot, so that the test system of the pipeline robot has to make comprehensive and objective evaluation on the comprehensive performance of the pipeline dust cleaning robot.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides a comprehensive performance test experiment system of a pipeline dust cleaning robot. The invention is mainly used for testing the comprehensive performance and the air flow parameters in the pipe of the pipe ash cleaning robot and obtaining the optimal operation condition and the operation capability of the pipe ash cleaning robot. The comprehensive performance comprises wall climbing capacity of the pipeline dust cleaning robot, adaptability to pipe diameter change, passing capacity of a bend of the pipeline, dust cleaning capacity and the like; the parameters of the air flow in the pipe comprise the temperature, the pressure, the air flow speed, the humidity and the like in the pipe.
The technical scheme adopted by the invention is as follows:
the invention has the beneficial effects that:
the comprehensive performance test experiment system of the pipeline dust cleaning robot is a type test platform of the passive driving pipeline dust cleaning robot, which is constructed according to the actual layout of pipe diameter change, bent pipes, vertical pipes and the like of site pipelines of dust removal systems of combustible and explosive dust industrial enterprises and the actual requirements of the working reliability and safety of dust deposition in the pipes on the pipeline dust cleaning robot.
The experiment system has the characteristics of compact structure, small occupied area, high integration of test functions, real-time monitoring of technical parameters and the like, and provides quality assurance for industrialization of the pipeline dust cleaning robot.
Drawings
FIG. 1 is a system block diagram of the present invention;
FIG. 2 is a communication connection diagram of the present invention;
FIG. 3 is a schematic view of the test condition of the turning and reducing pipe section of the present invention.
FIG. 4 is a schematic view of the overall operation;
FIG. 5 is a perspective view of the driving device;
FIG. 6 is a side view of the drive assembly;
FIG. 7 is a view in the direction A of FIG. 6;
FIG. 8 is a perspective view of the cleaning apparatus;
fig. 9 is a perspective view of the supporting device.
In the figure: the device comprises a pipeline ash removal robot (Q1), an inlet filter screen (Q2), a first horizontal pipe section (Q3), a first elbow (Q4), a first vertical pipe (Q5), a second elbow (Q6), a second horizontal pipe section (Q7), a third elbow (Q8), a second vertical pipe (Q9), a fourth elbow (Q10), a reducer pipe (Q11), a third horizontal pipe section (Q12), a first transition pipe (Q13), a dust remover (Q14), a second transition pipe (Q15), a dust removal fan (Q16), an air outlet pipe (Q17), a vibration reduction block (Q18), a pipe support frame (Q19), a pressure measurement sensor (Q20), a temperature measurement sensor (Q21), a temperature measurement sensor (Q22), a shunt pipe (Q23), a flow velocity measurement meter and a signal emission device (Q24);
the device comprises a driving device (1), a cleaning device (2), a supporting device (3), a pipeline (4), accumulated dust (5) and a flexible coupling (6); the wind power generation device comprises a windward plate (101), a driving device sliding rod (102), a driving device sliding block (103), a driving device connecting rod (104), a driving device rocker (106), a driving device spring (105), a gear box body (107), a worm wheel (108), a worm (109), a synchronous belt (110), a driving wheel (111), a synchronous belt wheel (112), a driving device output shaft (113) and a driving wheel shaft (114); a cleaning device driving shaft (201), a cleaning device rocker fixing seat (202), a cleaning device rocker (203), a cleaning device connecting rod (204), a cleaning device spring (205), a cleaning device sliding block (206) and a cleaning head (207); the support device comprises a support device driving shaft (301), a support device rocker fixing seat (302), a support device rocker (303), a support device connecting rod (304), a support device spring (305), a support device sliding block (306) and a support wheel (307).
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
As shown in fig. 1, the dust removal test device mainly comprises a test pipeline and an airflow parameter test device in the pipeline, wherein the test pipeline is mainly formed by alternately connecting a plurality of horizontal pipe sections, a plurality of elbows and a plurality of vertical pipes, the cercis of the pipeline changes, the pipelines are made of transparent materials, a pipeline dust removal robot Q1 enters the test pipeline and moves along the pipeline, an inlet filter screen Q2 is installed at an inlet of the test pipeline, a dust remover Q14 and a dust removal fan Q16 are installed and connected at an outlet of the test pipeline, and devices for measuring temperature, pressure, airflow speed and humidity are installed in the test pipeline.
As shown in figure 1, the test pipeline adopts negative pressure filtration type dust removal, and the pipeline dust removal robot experiment test pipeline system comprises a multi-section pipeline, an elbow, a filtration type dust remover bag dust remover or a filter cartridge dust remover and the like, a dust removal fan and the like.
The test pipeline comprises a first horizontal pipe section Q3, a first elbow Q4, a first vertical pipe Q5, a second elbow Q6, a second horizontal pipe section Q7, a third elbow Q8, a second vertical pipe Q9, a fourth elbow Q10, a reducer pipe Q11, a third horizontal pipe section Q12, a first transition pipe Q13, a dust remover Q14, a second transition pipe Q15, a dust removing fan Q16 and an air outlet pipe Q17; the first horizontal pipe section Q3, the second horizontal pipe section Q7 and the third horizontal pipe section Q12 are horizontally arranged, the position height of the second horizontal pipe section Q7 is higher than that of the third horizontal pipe section Q12, the position height of the third horizontal pipe section Q12 and that of the first horizontal pipe section Q3 are higher than that of the third horizontal pipe section Q12, the position height of the third horizontal pipe section Q12 is located in the middle of the dust remover Q14, the first vertical pipe Q5 and the second vertical pipe Q9 are vertically arranged, and the first vertical pipe Q5 is longer than the second vertical pipe Q9; the inlet end of a first horizontal pipe section Q3 is used as the inlet of a test pipeline and is provided with an inlet filter screen Q2, the outlet end of the first horizontal pipe section Q3 is connected with the lower end of a first vertical pipe Q5 through a first elbow Q4, the upper end of the first vertical pipe Q5 is connected with the inlet end of a second horizontal pipe section Q7 through a second elbow Q6, the outlet end of the second horizontal pipe section Q7 is connected with the upper end of a second vertical pipe Q9, the lower end of the second vertical pipe Q9 is connected with one end of a reducer pipe Q10 through a fourth elbow Q10, the other end of the reducer pipe Q11 is directly connected with the inlet end of a third horizontal pipe section Q12, the outlet end of the third horizontal pipe section Q12 is communicated with the bottom of a dust remover Q14 through a first transition pipe Q13, the top of the dust remover Q14 is communicated with the inlet of a dust remover Q16 through a second transition pipe Q15, the outlet of the dust remover Q16 is connected with an air outlet pipe Q17, and the dust removed gas is discharged through an air outlet pipe Q17; the dust removal fan Q16 is supported and installed on the ground through a vibration reduction block Q18, the second transition pipe Q15 and the dust removal fan Q16 are in soft connection, the vibration influence of the fan is eliminated, the first horizontal pipe section Q3, the second horizontal pipe section Q7 and the third horizontal pipe section Q12 are supported and installed on the ground through a pipe support frame Q19, and the dust remover Q14 is directly placed on the ground;
in specific implementation, the pipeline materials of the first horizontal pipe section Q3, the first elbow Q4, the first vertical pipe Q5, the second elbow Q6, the second horizontal pipe section Q7, the third elbow Q8, the second vertical pipe Q9, the fourth elbow Q10, the reducer pipe Q11 and the third horizontal pipe section Q12 are made of transparent materials, such as glass, transparent PMMA, transparent PC and the like, so that the dust cleaning effect and the pipeline adaptability of the robot to pipe wall dust can be observed.
In specific implementation, the inlet filter screen Q2 is a detachable filter screen, so that large foreign matters and human body parts can be prevented from being sucked into a pipeline.
The device for testing the air flow parameters in the pipe simultaneously realizes the measurement of the temperature, the pressure, the air flow speed and the humidity in the pipe.
A pressure measuring sensor Q20, a temperature measuring sensor Q21 and a temperature measuring sensor Q22 are mounted on the side wall of the second horizontal pipe section Q7; a shunt pipe Q23 is arranged on the side wall of the third horizontal pipe section Q12, and a flow rate measuring meter and a signal transmitting device Q24 are mounted on the shunt pipe Q23. The signals of the pressure measuring sensor Q20, the temperature measuring sensor Q21 and the temperature measuring sensor Q22 are collected and then are connected with the wireless collecting module S1, the flow rate measuring meter and the signal transmitting device Q24 are also connected with the wireless collecting module S1, and the wireless collecting module S1 is connected with the upper computer S2.
In the specific implementation, the temperature, the pressure and the humidity are measured by drilling holes in the pipe wall, the end parts of the sensors for mounting the temperature, the pressure and the humidity are positioned on the same plane with the inner wall of the pipe, and the signals of the temperature, the pressure and the humidity are processed by an electronic circuit and then are wirelessly transmitted by a wireless collection module S1.
Specifically, a bypass shunt pipe is added on the side wall of the pipeline, the bypass shunt pipe is shown in figure 1, two ends of a shunt pipe Q23 are installed at two ends of the middle of a third horizontal pipe section Q12 and penetrate through the side wall to be connected with the inside of the third horizontal pipe section Q12, the air speed in the shunt pipe is the same as that in the pipeline, a flow speed measuring meter is installed on the bypass pipe, the flow speed parameter measured by the flow speed measuring meter is shown in figure 1, and the flow speed parameter is sent through a wireless collecting module S1.
The wirelessly transmitted measurement parameters of the temperature, the pressure, the air flow speed, the humidity and the like of the pipeline are collected by a wireless collection module S1 as shown in figure 3, the wireless collection device of the air flow parameters in the pipeline transmits the collected parameters to an upper computer through a bus, the upper computer contains signal processing software, all the air flow parameters in the pipeline are stored by a corresponding database, and all the pipeline test parameters can be displayed in a form of a table or a curve.
In specific implementation, as shown in fig. 2 and 3, the duct deashing robot is mainly composed of the driving device 1, the cleaning device 2 and the supporting device 3 which are connected in the duct 4 from the air inlet direction to the air outlet direction, and the driving device 1, the cleaning device 2 and the supporting device 3 are not necessarily arranged in sequence as shown in fig. 2 and 3, but may be arranged in other sequences. The driving device 1 and the cleaning device 2, and the cleaning device 2 and the supporting device 3 are connected through flexible couplings 6, so that the devices can swing relatively; when the wind force in the dust removal pipeline 4 acts on the windward plate 101 in the driving device 1, the robot is pushed to walk along the inner wall of the dust removal pipeline 4, and meanwhile, all sections of devices of the robot swing relatively to adapt to the turning change of the pipeline.
Each section of device adopts an elastic expanding device with a spring, and under the spring force action of the spring, each walking wheel or cleaning head 207 is always tightly attached to the inner wall of the pipeline, so that the device can automatically adapt to the change of the pipe diameter of the dust removal pipeline. The driving device 1 converts the wind energy driving force in the pipeline 4 into the rotation potential energy of the wheel, converts the wind energy driving force from the air inlet of the pipeline 4 into the rotation force of the wheel, and drives the cleaning device 2, the supporting device 3 and the driving device 1 to move forward together.
The cleaning device 2 drives the cleaning head 207 in the cleaning device 2 to rotate by utilizing the rotational kinetic energy transmitted by the flexible coupling 6, so that the accumulated dust on the inner wall of the dust removal pipeline is peeled off and lifted, and the lifted dust is timely conveyed to the dust removal device at the tail end of the outlet of the dust removal system by wind energy in the pipeline of the dust removal system along the pipeline 4, thereby realizing the dust removal function. The supporting device 3 can be selectively installed, polygonal support is formed between the inner walls of the pipelines, the pipeline robot is mainly supported, the stability of the robot operation is improved, and the robot is prevented from deviating or turning on one side. The flexible coupling 6 is a universal coupling or other form of flexible coupling 6. The driving device 1, the cleaning device 2 and the supporting device 3 are connected through the flexible coupling 6, so that relative swinging is generated among the devices, and the pipeline dust cleaning robot can adapt to the bending of a dust removal pipeline in the walking process. The rotary motion of the output end of the driving device 1 is transmitted to the cleaning device 2 through the flexible coupling 6, and the cleaning head 207 of the cleaning device 2 is driven to rotate to perform dust cleaning operation.
As shown in fig. 4 to 6, the driving device 1 includes a windward plate 101, a driving device sliding rod 102, a driving device slider 103, a worm gear 108, a driving device output shaft 113, a gear housing 107, a driving device spring 105, and a plurality of elastic expanding driving components; the windward plate 101 is fixed at one end of the driving device sliding rod 102, the gear box body 107 is coaxially and rigidly fixed at the other end of the driving device sliding rod 102, and a worm gear 108 is coaxially arranged at the center of the end face of the other end of the driving device sliding rod 102 by a revolute pair; the driving device sliding block 103 is coaxially and movably sleeved outside the end part, close to the windward plate 101, of the driving device sliding rod 102 and relatively slides along the axial direction of the driving device sliding rod 102; a driving device spring 105 is sleeved outside the driving device sliding rod 102, one end of the driving device spring 105 is connected with the driving device sliding block 103, and the other end of the driving device spring 105 is connected with the gear box body 107; a plurality of elastic expanding drive components are connected between the drive device slide block 103 and the gear box body 107, and are circumferentially and uniformly distributed around the drive device slide rod 102. Each elastic expanding driving assembly comprises a driving device connecting rod 104, a driving device rocker 106, a driving wheel 111, a worm 109, a synchronous pulley 112 and a synchronous belt 110; the number of the driving device connecting rods 104 is the same as that of the driving device rocking rods 106, one end of each driving device connecting rod 104 is connected with the driving device sliding block 103 in a revolute pair mode, the other end of each driving device connecting rod is connected with the middle of one driving device rocking rod 106 in a revolute pair mode, the driving device rocking rods 106 are arranged in a radial mode relative to the driving device sliding rods 102, one end, close to the driving device sliding rods 102, of each driving device rocking rod 106 serves as a root end and is connected with the gear box body 107 in a revolute pair mode, and one end, far away from the driving device sliding rods 102, serves as a tail end and is provided with a driving wheel 111 in a revolute pair mode; the synchronous pulley 112 comprises a driving pulley and a driven pulley, the driving pulley 111 is rigidly and coaxially connected with the driving pulley through a driving wheel shaft 114, the driving wheel shaft 114 is connected and installed with the driving device rocker 106 through a revolute pair, the driving pulley and the driven pulley are in belt transmission connection through a synchronous belt 110, and the driven pulley is coaxially and fixedly connected with the worm 109; the worm 109 is mounted on the side of the gear box 107 by a rotation pair, the worm 109 and the worm wheel 108 are in transmission connection by a worm-gear pair, and the worm 109 of each elastic width expanding driving assembly is circumferentially and uniformly distributed relative to the axis of the gear box 107.
The driving device spring 105 is an extension spring and always generates an acting force for closing the driving device sliding block 103 and the gear box body 107 to each other, so that the tail ends of the driving device rocking bars 106 of the plurality of elastic expanding driving assemblies extend outwards towards the inner wall direction of the pipeline 4, the driving wheels 111 on the tail ends of the driving device rocking bars 106 are simultaneously unfolded outwards, the driving wheels 111 on the tail ends of the driving device rocking bars 106 are always elastically attached to the inner wall of the dust removal pipeline 4 in a rolling connection mode, and the change of the pipe diameter of the dust removal pipeline is adapted.
When the windward plate 101 is blown by wind power in the dust removal pipeline to enable the driving device 1 to move along the axis of the dust removal pipeline, the driving wheels 111 roll purely along the inner wall of the dust removal pipeline 4; the pure rolling of the driving wheel 111 is transmitted to the worm 109 through the belt transmission of the synchronous belt 110, and the movement is transmitted to the output shaft 113 of the driving device through the transmission of the worm 109 and the worm wheel 108.
As shown in fig. 7, the sweeping device 2 includes a sweeping device driving shaft 201, a sweeping device sliding block 206, a sweeping device rocker fixing base 202, a sweeping device spring 205 and a plurality of sweeping link assemblies; one end of the cleaning device driving shaft 201 close to the driving device 1 is synchronously and rotationally connected with the driving device output shaft 113 of the driving device 1 through the flexible coupling 6, the power of the driving device output shaft 113 is coupled to the cleaning device driving shaft 201 of the cleaning device 2, the cleaning device rocker fixing seat 202 is coaxially and rigidly sleeved with one end of the cleaning device driving shaft 201 close to the driving device 1, one end of the cleaning device driving shaft 201 far away from the driving device 1 is coaxially and movably sleeved with a cleaning device sliding block 206, and the cleaning device sliding block 206 axially and relatively slides along the cleaning device driving shaft 201; a cleaning device spring 205 is sleeved outside a cleaning device driving shaft 201 between the cleaning device sliding block 206 and the cleaning device rocker fixing seat 202, two ends of the cleaning device spring 205 are respectively connected to the cleaning device sliding block 206 and the cleaning device rocker fixing seat 202, and a plurality of cleaning connecting rod assemblies are uniformly distributed around the circumference of the cleaning device driving shaft 201 along the circumferential direction. Each cleaning connecting rod component comprises a cleaning device connecting rod 204 and a cleaning device rocker 203, one end of the cleaning device connecting rod 204 is connected with a cleaning device sliding block 206 through a revolute pair, and the other end of the cleaning device connecting rod 204 is connected with the middle part of the cleaning device rocker 203 through a revolute pair; the cleaning device rocker 203 is arranged radially with respect to the cleaning device drive shaft 201, the cleaning device rocker 203 is connected with the cleaning device rocker holder 202 at one end close to the cleaning device drive shaft 201 as a root end and with a revolute pair, and the cleaning head 207 is mounted at one end far from the cleaning device drive shaft 201 as a tip end and with a revolute pair.
The cleaning device spring 205 is an extension spring, always generates an acting force for closing the cleaning device sliding block 206 and the cleaning device rocker fixing seat 202 to each other, so that the tail ends of the cleaning device rockers 203 of the cleaning connecting rod assemblies extend outwards towards the inner wall direction of the pipeline 4, the cleaning heads 207 on the tail ends of the cleaning device rockers 203 are simultaneously unfolded outwards, the cleaning heads 207 on the tail ends of the cleaning device rockers 203 are always elastically attached to the inner wall of the dust removal pipeline 4 in a friction connection mode, and the change of the pipe diameter of the dust removal pipeline is adapted.
The cleaning device driving shaft 201 rotates to drive the cleaning heads 207 on the cleaning connecting rod assemblies to synchronously rotate around the circumferential direction of the cleaning device driving shaft 201 through the cleaning device rocker fixing seat 202, so that dust 5 accumulated on the inner wall of the dust removal pipeline 4 is cleaned.
As shown in fig. 9, the supporting device 3 includes a supporting device driving shaft 301, a supporting device slider 306, a supporting device rocker fixing base 302, a supporting device spring 305, and a plurality of supporting link assemblies; one end of the supporting device driving shaft 301 close to the cleaning device 2 is connected with the cleaning device driving shaft 201 of the cleaning device 2 through the flexible coupling 6 in a revolute pair mode, the supporting device rocker fixing seat 302 is coaxially and rigidly sleeved with one end of the supporting device driving shaft 301 close to the driving device 1, one end of the supporting device driving shaft 301 far away from the driving device 1 is coaxially and movably sleeved with a supporting device sliding block 306, and the supporting device sliding block 306 axially slides relatively along the supporting device driving shaft 301; a supporting device spring 305 is sleeved outside the supporting device driving shaft 301 between the supporting device sliding block 306 and the supporting device rocker fixing seat 302, two ends of the supporting device spring 305 are respectively connected to the supporting device sliding block 306 and the supporting device rocker fixing seat 302, and a plurality of supporting connecting rod assemblies are uniformly distributed around the circumference of the supporting device driving shaft 301 along the circumferential direction. Each support link assembly comprises a support device link 304 and a support device rocker 303, one end of the support device link 304 is connected with the support device slider 306 in a revolute pair, and the other end of the support device link 304 is connected with the middle part of the support device rocker 303 in a revolute pair; the support device rocker 303 is arranged radially with respect to the support device drive shaft 301, the support device rocker 303 being connected with a support device rocker mount 302 as a revolute pair at an end close to the support device drive shaft 301 and being provided with a support wheel 307 as a revolute pair at an end remote from the support device drive shaft 301.
The supporting device spring 305 is an extension spring, always generates acting force for mutually drawing the supporting device sliding block 306 and the supporting device rocker fixing seat 302, so that the tail ends of the supporting device rockers 303 of the supporting device connecting rod assemblies extend outwards towards the inner wall direction of the pipeline 4, the supporting wheels 307 on the tail ends of the supporting device rockers 303 are simultaneously unfolded outwards, the supporting wheels 307 at the tail ends of the supporting device rockers 303 are always elastically attached to the inner wall of the dust removal pipeline 4 in a rolling connection mode, and the pipe diameter change of the dust removal pipeline is adapted. The support means drive shaft 301 does not rotate and the support wheels 307 on each support link assembly roll supported on the inner wall of the dust removal duct 4.
When the robot works integrally, the windward plate 101 pushes the driving device 1 to run along a pipeline, meanwhile, the driving wheels 111 in the driving device 1 roll along the inner wall of the pipeline, the pure rolling is collected to the driving device output shaft 113 through a driving force transmission chain, and the driving device output shaft 113 generates rotary motion to drive the cleaning device 2 behind to perform dust cleaning operation.
The test process and method conditions of the test system of the invention are as follows:
the pipeline ash cleaning robot passes through each pipe section from the inlet in sequence. Because the diameters of the multiple sections of pipelines are changed, whether the running device and the contact type cleaning device of the pipeline dust cleaning robot can be always attached to the inner wall of the pipeline when the pipe diameter is changed can be observed to judge whether the design change amplitude of the running device and the contact type cleaning device meets the requirement or not, whether the phenomena of slipping, stalling and the like can occur in the running process or not, and the adaptive capacity condition of the pipeline dust cleaning robot to the pipe diameter change is obtained.
Set up many places return bend between the multistage pipeline, whether structure, size and driving capability that whether can pass through the return bend smoothly and test pipeline deashing robot through observing pipeline deashing robot can satisfy the requirement of turning round, the throughput capacity condition picture 3 of aassessment robot pipeline turning round department.
A plurality of vertical pipe sections are arranged among the plurality of sections of pipelines, and the wall climbing capacity of the pipeline ash cleaning robot is evaluated by observing whether the pipeline ash cleaning robot can climb the pipeline smoothly and whether the pipeline ash cleaning robot stalls or falls when descending.
The dust cleaning capacity of the robot is evaluated by observing the dust accumulation amount of the inner wall of the pipeline before and after the pipeline dust cleaning robot cleans the pipeline.
Through frequency conversion speed regulation, the rotating speed of the dust removal fan is regulated, the air quantity in the test pipeline is changed to regulate the air speed and the pressure in the test pipeline, the humidifier is used for changing the air humidity in the pipeline, and other measures are taken to change the test working condition of the pipeline dust cleaning robot, and the change condition of the comprehensive performance is observed to obtain the optimal operation condition of the normal operation of the robot.

Claims (6)

1. The utility model provides a comprehensive properties test experimental system of pipeline deashing robot which characterized in that:
the device mainly comprises a test pipeline and an in-pipe airflow parameter testing device, wherein the test pipeline is mainly formed by alternately connecting a plurality of horizontal pipe sections, a plurality of elbows and a plurality of vertical pipelines so that the diameter of the pipeline changes, the pipelines are made of transparent materials, a pipeline ash cleaning robot (Q1) enters the test pipeline and moves along the pipeline, an inlet filter screen (Q2) is installed at the inlet of the test pipeline, a dust remover (Q14) and a dust removing fan (Q16) are installed and connected at the outlet of the test pipeline, and devices for measuring temperature, pressure, airflow speed and humidity are installed in the test pipeline;
the comprehensive performance test experiment system is used for testing the following pipeline dust cleaning robot, the pipeline dust cleaning robot mainly comprises a driving device (1), a cleaning device (2) and a supporting device (3) which are arranged and connected in the pipeline (4) from the air inlet direction to the air outlet direction, and the driving device (1) and the cleaning device (2) and the supporting device (3) are connected through flexible couplers (6) to enable the devices to swing relatively; when wind power in the dust removal pipeline (4) acts on a windward plate (101) in the driving device (1), the robot is pushed to walk along the inner wall of the dust removal pipeline (4), and meanwhile, all sections of devices of the robot swing relatively to adapt to the turning change of the pipeline; the rotary motion of the output end of the driving device (1) is transmitted to the cleaning device (2) through the flexible coupling (6), and a cleaning head (207) of the cleaning device (2) is driven to rotate to perform ash cleaning operation;
the driving device (1) comprises a windward plate (101), a driving device sliding rod (102), a driving device sliding block (103), a worm wheel (108), a driving device output shaft (113), a gear box body (107), a driving device spring (105) and a plurality of elastic expanding driving components; the windward plate (101) is fixed at one end of the driving device sliding rod (102), the gear box body (107) is fixed at the other end of the driving device sliding rod (102), and a worm wheel (108) is coaxially arranged at the center of the end face of the other end of the driving device sliding rod (102) in a revolute pair mode; the driving device sliding block (103) is coaxially and movably sleeved outside the end part, close to the windward plate (101), of the driving device sliding rod (102) and relatively slides along the axial direction of the driving device sliding rod (102); a driving device spring (105) is sleeved outside the driving device sliding rod (102), one end of the driving device spring (105) is connected with the driving device sliding block (103), and the other end of the driving device spring (105) is connected with a gear box body (107); a plurality of elastic expanding driving components are connected between the driving device sliding block (103) and the gear box body (107), and are circumferentially and uniformly distributed around the driving device sliding rod (102);
each elastic expanding driving assembly comprises a driving device connecting rod (104), a driving device rocker (106), a driving wheel (111), a worm (109), a synchronous pulley (112) and a synchronous belt (110); one end of a driving device connecting rod (104) is connected with a driving device sliding block (103) through a revolute pair, the other end of the driving device connecting rod is connected with the middle of a driving device rocker (106) through a revolute pair, one end, close to a driving device sliding rod (102), of the driving device rocker (106) serves as a root end and is connected with a gear box body (107) through a revolute pair, and one end, far away from the driving device sliding rod (102), of the driving device rocker (106) serves as a tail end and is provided with a driving wheel (111) through a revolute pair; the synchronous pulley (112) comprises a driving pulley and a driven pulley, the driving pulley (111) is rigidly and coaxially connected with the driving pulley, the driving pulley and the driven pulley are in belt transmission connection through a synchronous belt (110), and the driven pulley is coaxially and fixedly connected with the worm (109); the worm (109) is arranged on the side part of the gear box body (107) through a rotating pair, and the worm (109) and the worm wheel (108) are in transmission connection through a worm-gear pair; the driving device spring (105) always generates acting force for mutually approaching the driving device sliding block (103) and the gear box body (107), so that the tail ends of driving device rockers (106) of the elastic expanding driving assemblies extend outwards towards the inner wall of the pipeline (4), and a plurality of driving wheels (111) at the tail ends of the driving device rockers (106) are always elastically attached to the inner wall of the dust removal pipeline (4) in a rolling connection manner;
the supporting device (3) comprises a supporting device driving shaft (301), a supporting device sliding block (306), a supporting device rocker fixing seat (302), a supporting device spring (305) and a plurality of supporting connecting rod assemblies; one end of a supporting device driving shaft (301) close to the cleaning device (2) is connected with a cleaning device driving shaft (201) of the cleaning device (2) through a flexible coupling (6) in a revolute pair mode, a supporting device rocker fixing seat (302) is coaxially and rigidly sleeved with one end of the supporting device driving shaft (301) close to the driving device (1), a supporting device sliding block (306) is coaxially and movably sleeved at one end of the supporting device driving shaft (301) far away from the driving device (1), and the supporting device sliding block (306) axially slides relatively along the supporting device driving shaft (301); a supporting device spring (305) is sleeved outside a supporting device driving shaft (301) between a supporting device sliding block (306) and a supporting device rocker fixing seat (302), two ends of the supporting device spring (305) are respectively connected to the supporting device sliding block (306) and the supporting device rocker fixing seat (302), and a plurality of supporting connecting rod assemblies are uniformly distributed around the circumference of the supporting device driving shaft (301) along the circumferential direction; each supporting connecting rod assembly comprises a supporting device connecting rod (304) and a supporting device rocker (303), one end of each supporting device connecting rod (304) is connected with a supporting device sliding block (306) through a revolute pair, and the other end of each supporting device connecting rod is connected with the middle of each supporting device rocker (303) through a revolute pair; one end of the support device rocker (303) close to the support device driving shaft (301) is used as a root end and is connected with the support device rocker fixing seat (302) through a revolute pair, and one end of the support device rocker (303) far away from the support device driving shaft (301) is used as a tail end and is provided with a support wheel (307) through a revolute pair; the supporting device spring (305) always generates acting force for enabling the supporting device sliding block (306) and the supporting device rocker fixing seat (302) to be close to each other, so that the tail ends of the supporting device rockers (303) of the supporting device connecting rod assemblies extend outwards towards the inner wall direction of the pipeline (4), and a plurality of supporting wheels (307) at the tail ends of the supporting device rockers (303) are always elastically attached to the inner wall of the dust removing pipeline (4) in a rolling connection mode.
2. The pipeline dust cleaning robot comprehensive performance test experimental system of claim 1, characterized in that:
the test pipeline comprises a first horizontal pipe section (Q3), a first elbow (Q4), a first vertical pipe (Q5), a second elbow (Q6), a second horizontal pipe section (Q7), a third elbow (Q8), a second vertical pipe (Q9), a fourth elbow (Q10), a reducer pipe (Q11), a third horizontal pipe section (Q12), a first transition pipe (Q13), a dust remover (Q14), a second transition pipe (Q15), a dust removing fan (Q16) and an air outlet pipe (Q17);
the first horizontal pipe section (Q3), the second horizontal pipe section (Q7) and the third horizontal pipe section (Q12) are horizontally arranged, the position height of the second horizontal pipe section (Q7) is higher than that of the third horizontal pipe section (Q12), the position height of the third horizontal pipe section (Q12) and that of the first horizontal pipe section (Q3), and the first vertical pipe (Q5) and the second vertical pipe (Q9) are vertically arranged;
the inlet end of a first horizontal pipe section (Q3) is used as the inlet of a test pipeline and is provided with an inlet filter screen (Q2), the outlet end of the first horizontal pipe section (Q3) is connected with the lower end of a first vertical pipe (Q5) through a first elbow (Q4), the upper end of the first vertical pipe (Q5) is connected with the inlet end of a second horizontal pipe section (Q7) through a second elbow (Q6), the outlet end of the second horizontal pipe section (Q7) is connected with the upper end of a third elbow (Q8) and the upper end of a second vertical pipe (Q9), the lower end of the second vertical pipe (Q9) is connected with one end of a reducer pipe (Q11) through a fourth elbow (Q10), the other end of the reducer pipe (Q11) is directly connected with the inlet end of a third horizontal pipe section (Q12), the outlet end of the third horizontal pipe section (Q12) is communicated with the bottom of a dust remover (Q14) through a first transition pipe (Q13), the top of the dust remover (Q14) is communicated with the outlet of a dust remover pipe (Q16) through a second transition pipe (Q15), and the outlet of a dust remover pipe (Q17) is communicated with an outlet of a dust remover pipe (Q16);
a pressure measuring sensor (Q20), a temperature measuring sensor (Q21) and a temperature measuring sensor (Q22) are mounted on the side wall of the second horizontal pipe section (Q7); the lateral wall of third horizontal pipe section (Q12) is equipped with shunt tubes (Q23), and the both ends of shunt tubes (Q23) are installed at the both ends department in third horizontal pipe section (Q12) middle part and are passed lateral wall and third horizontal pipe section (Q12) internal connection, install velocity of flow meter and signal emission device (Q24) on shunt tubes (Q23).
3. The pipeline ash cleaning robot comprehensive performance test experimental system of claim 2, characterized in that: the pipeline materials of the first horizontal pipe section (Q3), the first elbow (Q4), the first vertical pipeline (Q5), the second elbow (Q6), the second horizontal pipe section (Q7), the third elbow (Q8), the second vertical pipeline (Q9), the fourth elbow (Q10), the reducer pipe (Q11) and the third horizontal pipe section (Q12) are made of transparent materials.
4. The pipeline ash cleaning robot comprehensive performance test experimental system of claim 2, characterized in that: the inlet filter screen (Q2) is a detachable filter screen.
5. The pipeline ash cleaning robot comprehensive performance test experimental system of claim 2, characterized in that: the pressure measuring sensor (Q20), the temperature measuring sensor (Q21) and the temperature measuring sensor (Q22) are connected with the wireless collecting module (S1) after signals are collected, the rapid measuring meter and the signal emitting device (Q24) are also connected with the wireless collecting module (S1), and the wireless collecting module (S1) is connected with the upper computer (S2).
6. The comprehensive performance test experiment system of the pipeline ash cleaning robot as claimed in claim 1, characterized in that: the cleaning device (2) comprises a cleaning device driving shaft (201), a cleaning device sliding block (206), a cleaning device rocker fixing seat (202), a cleaning device spring (205) and a plurality of cleaning connecting rod assemblies; one end of a driving shaft (201) of the cleaning device, which is close to the driving device (1), is synchronously and rotatably connected with a driving device output shaft (113) of the driving device (1) through a flexible coupling (6), a rocker fixing seat (202) of the cleaning device is coaxially and rigidly sleeved with one end of the driving shaft (201) of the cleaning device, which is close to the driving device (1), a sliding block (206) of the cleaning device is coaxially and movably sleeved at one end of the driving shaft (201), which is far away from the driving device (1), of the cleaning device, and the sliding block (206) of the cleaning device relatively slides along the axial direction of the driving shaft (201) of the cleaning device; a cleaning device spring (205) is sleeved outside a cleaning device driving shaft (201) between the cleaning device sliding block (206) and the cleaning device rocker fixing seat (202), two ends of the cleaning device spring (205) are respectively connected to the cleaning device sliding block (206) and the cleaning device rocker fixing seat (202), and a plurality of cleaning connecting rod assemblies are uniformly distributed around the circumference of the cleaning device driving shaft (201) along the circumferential direction; each cleaning connecting rod component comprises a cleaning device connecting rod (204) and a cleaning device rocker (203), one end of the cleaning device connecting rod (204) is connected with a cleaning device sliding block (206) through a revolute pair, and the other end of the cleaning device connecting rod is connected with the middle part of the cleaning device rocker (203) through a revolute pair; one end of the cleaning device rocker (203) close to the cleaning device driving shaft (201) is used as a root end and is connected with the cleaning device rocker fixing seat (202) through a revolute pair, and one end of the cleaning device rocker (203) far away from the cleaning device driving shaft (201) is used as a tail end and is provided with a cleaning head (207) through the revolute pair; the cleaning device spring (205) always generates an acting force for mutually drawing the cleaning device sliding block (206) and the cleaning device rocker fixing seat (202) together, so that the tail ends of the cleaning device rockers (203) of the cleaning connecting rod assemblies extend outwards towards the inner wall of the pipeline (4), and a plurality of cleaning heads (207) at the tail ends of the cleaning device rockers (203) are always elastically attached to the inner wall of the dust removal pipeline (4) in a friction connection mode.
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