CN112474643A - Cleaning and detecting equipment for inner wall of insulating hollow sleeve and sleeve cleaning method - Google Patents
Cleaning and detecting equipment for inner wall of insulating hollow sleeve and sleeve cleaning method Download PDFInfo
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- CN112474643A CN112474643A CN202011268800.3A CN202011268800A CN112474643A CN 112474643 A CN112474643 A CN 112474643A CN 202011268800 A CN202011268800 A CN 202011268800A CN 112474643 A CN112474643 A CN 112474643A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 122
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- 238000007906 compression Methods 0.000 claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims description 29
- 238000012544 monitoring process Methods 0.000 claims description 19
- 238000009434 installation Methods 0.000 claims description 18
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 18
- 230000001105 regulatory effect Effects 0.000 claims description 14
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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
- B08B9/049—Cleaning 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
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Abstract
When a sleeve with a continuous variable diameter is cleaned, a walking system can contract or stretch along with the change of the pipe diameter, so that the change of the pipe diameter of a cable sleeve is adapted, self-adaptive walking in the sleeve is further completed, the cleaning system moves forwards along with the walking part, a cleaning head is always attached to the inner wall of the sleeve through the tension force provided by a compression spring, and the inner wall cleaning work of the sleeve with the variable inner diameter is completed.
Description
Technical Field
The invention relates to the technical field of pipeline cleaning, in particular to equipment for cleaning and detecting the inner wall of an insulating hollow sleeve and a sleeve cleaning method.
Background
The pipe diameter of the inner wall of the current large cable sleeve generally changes in phi 270-phi 600, and the inner wall surface of the current large cable sleeve is an inner conical surface of phi 270-phi 600 or a combination of a plurality of discontinuous inner conical surfaces. When the sleeve is installed, the inner wall of the sleeve needs to be cleaned, and the inner wall is ensured to be clean and free of impurities such as stains, dust and tiny particles, so that the insulation safety under high voltage and ultrahigh voltage is ensured. Conventional cleaning devices are difficult to adapt to the conditions of their pipe diameter. Therefore, at present, the large-scale cable terminal sleeve still adopts a manual cleaning mode, the manual cleaning is difficult and inefficient, in order to prevent carrying dirt into a pipeline or causing secondary pollution, a preservative film is required to be wrapped on the whole body in advance and then enters a long and narrow pipeline for cleaning, the operation space is limited, and the comprehensive cleaning cannot be realized.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides equipment for cleaning and detecting the inner wall of the insulating hollow sleeve, which can clean the sleeve with the variable diameter.
The invention also discloses a method for cleaning the sleeve by using the equipment for cleaning and detecting the inner wall of the insulating hollow sleeve.
The equipment for cleaning and detecting the inner wall of the insulating hollow sleeve comprises a walking system and a cleaning system, wherein the walking system comprises a power device, a driving wheel walking device, a reducing adjusting device and a driven wheel walking mechanism, and the cleaning system comprises a second shaft rod and a plurality of groups of mechanical arms;
one end of the power device is provided with a mounting seat, and the other end of the power device is provided with a first shaft lever;
the driving wheel traveling device comprises a plurality of groups of driving wheel traveling mechanisms, each group of driving wheel traveling mechanisms comprises a driving wheel and a first connecting rod, one end of the first connecting rod is hinged with the mounting seat, the other end of the first connecting rod is connected with the driving wheel, and the power device is in transmission connection with the driving wheel so as to drive the driving wheel to travel;
the reducing adjusting device comprises a plurality of groups of reducing mechanisms, each group of reducing mechanisms comprises a second connecting rod, a first adjusting rod and a regulating system, first fixed seats and first sliding seats are arranged on the first shaft rod at intervals, the first fixed seats are fixedly arranged on the first shaft rod, the first sliding seats are movably arranged on the first shaft rod, one end of each second connecting rod is hinged with the corresponding first fixed seat, one end of each first adjusting rod is hinged with the corresponding first sliding seat, the other end of each first adjusting rod is hinged with the middle part of the corresponding second connecting rod, and the regulating system is connected with the corresponding first sliding seat to control the corresponding first sliding seat to move along the corresponding first shaft rod;
the driven wheel traveling mechanism comprises a third connecting rod and a driven wheel, one end of the third connecting rod is hinged with the other end of the second connecting rod, the other end of the third connecting rod is hinged with the middle part of the first connecting rod, and the driven wheel is arranged on the third connecting rod;
one end of the second shaft lever is arranged at the end part of the mounting seat and is rotatably connected with the power device, the other end of the second shaft lever is provided with a bearing platform, a second fixed seat and a second sliding seat are sequentially arranged on the second shaft lever from the power device to the bearing platform, the second fixed seat is fixedly connected with the second shaft lever, the second sliding seat is connected on the second shaft lever and can move along the second shaft lever, a compression spring is arranged between the second sliding seat and the bearing platform, and the compression spring is sleeved on the second shaft lever;
the multiple groups of mechanical arms are annularly arranged on the second shaft lever, each mechanical arm comprises a cleaning head, a supporting rod and a second adjusting rod, one end of the supporting rod is hinged to the cleaning head, the other end of the supporting rod is hinged to the second fixing seat, one end of the second adjusting rod is hinged to the middle of the supporting rod, and the other end of the second adjusting rod is hinged to the second sliding seat.
The equipment for cleaning and detecting the inner wall of the insulating hollow sleeve provided by the embodiment of the invention at least has the following beneficial effects: when cleaning the sleeve pipe of continuous reducing, traveling system can contract or extend along with the change of pipe diameter to the condition that adaptation cable sleeve pipe diameter changed, and then accomplish at intraductal self-adaptation walking, cleaning system is along with traveling system advances, through the tensile force that compression spring provided, makes the cleaning head remain the laminating with sheathed tube inner wall all the time, thereby accomplishes the sheathed tube inner wall cleaning work to the internal diameter change.
According to some embodiments of the present invention, the regulating system includes a stepping motor and a pressure sensor, the first shaft is a ball screw, the first sliding seat is a screw nut disposed on the ball screw, the ball screw is in transmission connection with the stepping motor, the pressure sensor is disposed on the first adjusting lever for monitoring a pressure applied to the first adjusting lever, and the pressure sensor is electrically connected to the stepping motor.
According to some embodiments of the invention, the regulating system comprises an adjusting spring and a baffle, the baffle is fixedly arranged on the first shaft, the first sliding seat is located between the baffle and the first fixed seat, the adjusting spring is arranged between the baffle and the first sliding seat, and the adjusting spring is sleeved on the first shaft.
According to some embodiments of the invention, the driven wheel is connected to the third connecting rod through a fine adjustment mechanism, the fine adjustment mechanism includes a spring mounting seat, a guide rod and a fine adjustment spring, the spring mounting seat is mounted on the third connecting rod, the guide rod is vertically arranged on the spring mounting seat, a guide hole is arranged on a base of the driven wheel, the driven wheel is movably connected to the guide rod through the guide hole, the fine adjustment spring is arranged between the driven wheel and the spring mounting seat, one end of the fine adjustment spring is connected to the base of the driven wheel, and the other end of the fine adjustment spring is connected to the spring mounting seat.
According to some embodiments of the invention, the cleaning head comprises a base, an installation pedestal and a quick bolt, wherein the base comprises a bottom plate and fixed installation plates which extend upwards and are arranged at two ends of the bottom plate, the fixed installation plates are provided with pin holes penetrating through a plate surface, the fixed installation plates and the bottom plate enclose an installation groove, the upper surface of the installation pedestal is covered with a wiping part and is fixedly installed through a fixing part, the installation pedestal is installed in the installation groove, two ends of the installation pedestal are provided with connection holes corresponding to the pin holes, and the quick bolt penetrates through the pin holes and is fixedly inserted in the connection holes so as to install the installation pedestal and the base together.
According to some embodiments of the invention, the wiper has an arched cross section, and the fixing member includes two fixing plates, the fixing plates are provided with mounting holes, and a connecting nut penetrates through the mounting holes to clamp the two fixing plates on two sides of the wiper.
According to some embodiments of the invention, the wipe is a soft backing.
According to some embodiments of the invention, the fixed mounting plates are provided with bearings on the outer sides, and the difference in height between the upper ends of the bearings and the upper ends of the wipers is less than the compression limit of the wipers.
According to some embodiments of the invention, the system further comprises a monitoring system for monitoring the cleanliness of the interior of the casing, the monitoring system being electrically connected to the power plant.
According to some embodiments of the invention, the support device further comprises an auxiliary support rod, the auxiliary support rod and the support rod are arranged in parallel, one end of the auxiliary support rod is hinged to the bottom plate through the connecting lug, the other end of the auxiliary support rod is hinged to an auxiliary fixing seat, and the auxiliary fixing seat is fixedly connected to the second shaft rod.
A method of cleaning a cannula according to an embodiment of the second aspect of the invention comprises the steps of:
step S1, the equipment for cleaning and detecting the inner wall of the insulating hollow sleeve of the first aspect embodiment is arranged in the sleeve from one side of the big end of the sleeve; step S2, the controller starts the power device to circularly and repeatedly clean the inner wall of the sleeve from the large end to the small end of the sleeve; step S3, monitoring the cleaning condition of the inner wall of the sleeve and the state of the cleaning head through a monitoring system, judging whether the cleaning head needs to be replaced, if the cleaning head needs to be replaced, stopping the equipment at the large end of the sleeve, updating the cleaning head, starting the machine again after the replacement, and circulating until the cleaning effect meets the requirement; and step 4, taking the device out of the sleeve after cleaning, and manually performing ending supplement at the positions of the two ends of the sleeve to eliminate the positions where the two ends are possibly not cleaned in place.
The sleeve cleaning method provided by the embodiment of the invention has at least the following beneficial effects: the invention utilizes the cleaning and detecting equipment of the inner wall of the insulating hollow sleeve to clean the sleeve, can automatically adapt to the change of the pipe diameter of the sleeve, improves the cleaning efficiency and the cleaning quality of the sleeve, and reduces the labor intensity.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic diagram of the overall structure of the cleaning and detecting device for the inner wall of the insulating hollow casing according to the embodiment of the invention;
FIG. 2 is a schematic view of the construction of the walking system;
FIG. 3 is a schematic structural diagram of an embodiment of a reducing adjustment device;
FIG. 4 is a schematic view of the connection between the driven wheel and the fine adjustment mechanism;
FIG. 5 is a schematic view of the cleaning system in an expanded configuration;
FIG. 6 is a right side view of FIG. 5;
FIG. 7 is a schematic view of the cleaning system in a retracted state;
FIG. 8 is a right side view of FIG. 7;
figure 9 is an exploded view of the cleaning head;
FIG. 10 is a top view of the cleaning head;
fig. 11 is a sectional view taken along a-a in fig. 10.
Reference numerals:
the power device 1100, the mounting seat 1110, the first shaft 1120, the first fixed seat 1121, and the first sliding seat 1122;
a driving wheel 1210 and a first connecting rod 1220;
a second link 1310, an adjustment lever 1320;
an adjusting spring 1610, a baffle 1620;
a cleaning head 2100, a base 2110, a bottom plate 2111, a fixed mounting plate 2112, a pin hole 21121, a connecting ear 2113, a connecting ear hole 21131, a mounting pedestal 2120, a connecting hole 2121, a quick-action latch 2130, a force-borrowing portion 2131, a wiper 2140, a fixing plate 2150, a mounting hole 2151, a connecting nut 2160, and a bearing 2170;
a second shaft 2200, a second fixing seat 2210, a second sliding seat 2220, and a bearing platform 2230;
the support rod 2300, adjust pole 2400, supplementary bracing piece 2500, supplementary fixing base 2600, shaft coupling 2700, compression spring 2800.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The cleaning and inspection apparatus for the inner wall of the insulating hollow casing according to the embodiment of the present invention will be described with reference to fig. 1 to 11.
As shown in fig. 1 to 8, the cleaning and detecting apparatus for the inner wall of the insulating hollow casing according to the embodiment of the present invention includes a traveling system and a cleaning system, wherein the traveling system includes a power device 1100, a driving wheel traveling device, a reducing adjusting device and a driven wheel traveling mechanism, and the cleaning system includes a second shaft rod and a plurality of groups of mechanical arms;
one end of the power device 1100 is provided with a mounting seat 1110, and the other end is provided with a first shaft 1120;
the driving wheel traveling device comprises a plurality of groups of driving wheel traveling mechanisms, each group of driving wheel traveling mechanisms comprises a driving wheel 1210 and a first connecting rod 1220, one end of the first connecting rod 1220 is hinged with the mounting seat 1110, the other end of the first connecting rod 1220 is connected with the driving wheel 1210, and the power device 1100 is in transmission connection with the driving wheel 1210 to drive the driving wheel 1210 to travel;
the diameter-changing adjusting device comprises a plurality of groups of diameter-changing mechanisms, each group of diameter-changing mechanisms comprises a second connecting rod 1310, a first adjusting rod 1320 and a regulating system, a first fixed seat 1121 and a first sliding seat 1122 are arranged on the first shaft rod 1120 at intervals, the first fixed seat 1121 is fixedly arranged on the first shaft rod 1120, the first sliding seat 1122 is movably arranged on the first shaft rod 1120, one end of the second connecting rod 1310 is hinged with the first fixed seat 1121, one end of the first adjusting rod 1320 is hinged with the first sliding seat 1122, the other end of the first adjusting rod 1320 is hinged with the middle of the second connecting rod, and the regulating system is connected with the first sliding seat 1310 to control the first sliding seat 1122 of the first sliding seat to move along the first shaft rod 1120;
the driven wheel walking mechanism comprises a third connecting rod 1410 and a driven wheel 1420, one end of the third connecting rod 1410 is hinged with the other end of the second connecting rod 1310, the other end of the third connecting rod 1410 is hinged with the middle part of the first connecting rod 1220, and the driven wheel 1420 is arranged on the third connecting rod 1410;
one end of the second shaft 2200 is arranged at the end of the mounting seat 1110 and is rotatably connected with the power device 1100, the other end of the second shaft 2200 is provided with a bearing platform 2230, a second fixed seat 2210 and a second sliding seat 2220 are sequentially arranged on the second shaft 2200 from the power device 1100 to the bearing platform 2230, the second fixed seat 2210 and the second shaft 2200 are fixedly connected, the second sliding seat 2220 is connected on the second shaft 2200 and can move along the second shaft 2200, a compression spring 2800 is arranged between the second sliding seat 2220 and the bearing platform 2230, and the compression spring 2800 is sleeved on the second shaft 2200;
the multiple sets of mechanical arms are annularly arranged on the second shaft rod 2200, each mechanical arm comprises a cleaning head 2100, a supporting rod 2300 and a second adjusting rod 2400, one end of the supporting rod 2300 is hinged to the cleaning head 2100, the other end of the supporting rod is hinged to the second fixing seat 2210, one end of the second adjusting rod 2400 is hinged to the middle of the supporting rod 2300, and the other end of the second adjusting rod is hinged to the second sliding seat 2220.
When cleaning the sleeve pipe of continuous reducing, traveling system can contract or extend along with the change of pipe diameter to the condition that adaptation cable sleeve pipe diameter changed, and then accomplish at intraductal self-adaptation walking, cleaning system is along with the traveling part gos forward, through the tensile force that compression spring provided, makes the cleaning head remain the laminating with sheathed tube inner wall all the time, thereby accomplishes the sheathed tube inner wall cleaning work to the internal diameter change.
Specifically, when the whole device is used for cleaning along the direction that the pipe diameter of the sleeve pipe is reduced continuously, the power device 1100 provides power to drive the driving wheel 1210 to walk in the pipe. In the walking process, the pressure between the driving wheel 1210 and the driven wheel 1420 and the pipe wall is increased along with the continuous reduction of the pipe diameter. When the pressure is monitored by the control device to be increased, the first sliding seat 1122 is controlled to move in a direction away from the first fixed seat 1121, and along with the movement of the first sliding seat 1122, the third connecting rod 1410 is driven to move towards the first shaft 1120 through the adjusting rod 1320 and the second connecting rod 1310 in sequence, so that the driven wheel 1420 and the driving wheel 1210 move inward in a retracting manner, and the whole traveling system continuously retracts to adapt to the situation that the pipe diameter is continuously reduced.
During the cleaning process, the power device 1100 drives the second shaft 2200 to rotate (the second shaft 2200 is connected with the motor through the coupling 2700 to drive the second shaft 2200 to rotate), and the cleaning head 2100 at the end of the support rod 2300 cleans and scrubs the whole inner wall of the sleeve. When the cleaning system goes forward in the sleeve for cleaning, along with the pipe diameter is continuously reduced, the cleaning head 2100 is pressed to transmit pressure to the supporting rod 2300, the supporting rod 2300 is pressed downwards under the force, the supporting rod 2300 rotates around the fixing seat 2210, and the supporting rod 2300 gradually moves from a vertical state to a horizontal state. During the process of pressing the support rod 2300, the force is transferred to the compression spring 2800 through the adjustment rod 2400, and the compression spring 2800 is compressed by force. The cleaning system can automatically adapt to the change of the pipe diameter of the sleeve pipe without external force in the whole process, thereby completing the cleaning of the inner wall of the whole sleeve pipe. Theoretically, the cleaning device can adapt to the cleaning work of sleeves with various pipe diameters through certain design adjustment.
While the device is cleaned in the direction of increasing pipe diameter of the casing. In the walking process, as the pipe diameter is continuously increased, the pressure between the driving wheel 1210 and the driven wheel 1420 and the pipe wall is reduced. After the pressure is monitored by the adjusting and controlling device to be reduced, the first sliding seat 1122 is controlled to move towards the direction close to the first fixed seat 1121, and along with the movement of the first sliding seat 1122, the third connecting rod 1410 is driven to move away from the first shaft 1120 through the adjusting rod 1320 and the second connecting rod 1310 in sequence, so that the driven wheel 1420 and the driving wheel 1210 extend outwards, and the traveling system continuously extends, thereby adapting to the situation that the pipe diameter is increased continuously.
When the pipe diameter of the sleeve is continuously increased by the cleaning system, the compression spring 2800 is extended to push the second sliding seat 2220 to move towards the second fixed seat 2210, so that the support rod 2300 is gradually opened.
As shown in fig. 2, in some embodiments of the present invention, the regulating system includes a stepping motor and a pressure sensor, the first shaft 1120 is a ball screw, the first sliding seat 1122 is a screw nut disposed on the ball screw, the ball screw is in transmission connection with the stepping motor, the pressure sensor is disposed on the first adjusting rod 1320 for monitoring the pressure applied to the first adjusting rod 1320, and the pressure sensor is electrically connected with the stepping motor.
As the traveling system travels within the tube, driven wheel 1420 and driving wheel 1210 are subjected to varying pressures from the tube wall. After the pressure sensor arranged on the first adjusting rod 1320 monitors that the pressure is continuously increased, the stepping motor receives an electric signal and then rotates forwards to drive the ball screw to rotate forwards, and the screw nut on the ball screw makes linear motion on the ball screw so as to control the contraction or extension through the four-bar mechanism. The pressure between the driven wheel 1420 and the driving wheel 1210 and the pipe wall is always kept in a stable range, so that the pipe diameter change is adapted.
As shown in fig. 3, in some embodiments of the present invention, the adjusting system includes an adjusting spring 1610 and a blocking plate 1620, the blocking plate 1620 is fixed on the first shaft 1120, the first sliding seat 1122 is located between the blocking plate 1620 and the first fixed seat 1121, the adjusting spring 1610 is disposed between the blocking plate 1620 and the first sliding seat 1122, and the adjusting spring 1610 is sleeved on the first shaft 1120.
In this embodiment, when the traveling system travels along the direction in which the pipe diameter of the casing pipe is decreasing, the driven wheel 1420 and the driving wheel 1210 receive pressure from the pipe wall to increase, and compress the four-bar linkage, and the adjusting spring 1610 receives pressure to increase, so that adaptive contraction can be performed, and the entire traveling system contracts.
And when the walking system walks along the direction that the pipe diameter of the sleeve pipe becomes bigger continuously. Driven wheel 1420 and driving wheel 1210 are subjected to reduced pressure from the tube wall, and adjusting spring 1610 is subjected to reduced pressure and gradually extends to push the four-bar linkage to extend, so that the whole walking system extends outwards. Through the arrangement of the adjusting spring 1610, the driven wheel 1420 and the driving wheel 1210 are balanced by the pressure from the pipe wall and the elastic force between the adjusting spring 1610, so that the pipe diameter change is automatically adapted.
As shown in fig. 2 and 4, in some embodiments of the present invention, the driven wheel 1420 is connected to the third link 1410 through a fine adjustment mechanism, the fine adjustment mechanism includes a spring mount 1710, a guide rod 1720 and a fine adjustment spring 1730, the spring mount 1710 is mounted on the third link 1410, the guide rod 1720 is vertically disposed on the spring mount 1710, a guide hole is disposed on a base of the driven wheel 1420, the driven wheel 1420 is movably connected to the guide rod 1720 through the guide hole, the fine adjustment spring 1730 is disposed between the driven wheel 1420 and the spring mount 1710, one end of the fine adjustment spring 1730 is connected to the base of the driven wheel 1420, and the other end is connected to the spring mount 1710.
In the process of walking in the pipe, the walking system needs to ensure that the driven wheel 1420 and the driving wheel 1210 are always in contact with the pipe wall. And four link mechanism that this application adopted, after one of them connecting rod position changes, the position of other connecting rods can follow the linkage. Therefore, the driven wheel 1420 and the driving wheel 1210 can be synchronously contracted or extended on the same connecting line, and the inclined angle of the connecting line between the driven wheel 1420 and the driving wheel 1210 is fixed. Can only be used with sleeves with corresponding pipe diameter changes. When the sleeves with different pipe diameters are changed (the taper of the inner diameters of the sleeves can be different), the driven wheel 1420 can be contacted with the pipe wall, and the driving wheel 1210 is in a suspended state; alternatively, drive wheel 1210 is in contact with the vessel wall and driven wheel 1420 is suspended. Or the pipe diameter of the sleeve is not changed, but the pipe diameter of a section of interval is reduced, and the pipe diameter of a section of interval is increased, so that the adaptability adjustment is difficult.
In order to solve the above-mentioned problem, the present application further connects the driven wheel 1420 to the third link 1410 through a fine adjustment mechanism, so that the driven wheel 1420 itself has a certain automatic adjustment capability. When cleaning sleeves with different pipe diameters, the driven wheel 1420 contracts or extends along the guide rod 1720 under the action of the fine adjustment spring 1730, and the inclination angle of a connecting line between the driven wheel 1420 and the driving wheel 1210 is changed, so that the device can adapt to the sleeves with different pipe diameters, and the applicability and the universality of the walking device are improved.
As shown in fig. 9 to 11, in some embodiments of the present invention, the cleaning head 2100 includes a base 2110, a mounting pedestal 2120 and a snap pin 2130, the base 2110 includes a bottom plate 2111 and a fixing mounting plate 2112 extending upward from both ends of the bottom plate 2111, the fixing mounting plate 2112 is provided with a pin hole 21121 penetrating through the plate surface, the two fixing mounting plates 2112 and the bottom plate 2111 enclose a mounting groove, the upper surface of the mounting pedestal 2120 is covered with a wiper 2140 and is mounted and fixed by a fixing member, the mounting pedestal 2120 is mounted in the mounting groove, both ends of the mounting pedestal 2120 are provided with a connecting hole 2121 corresponding to the pin hole 21121, and the snap pin 2130 passes through the pin hole 21121 and is fixedly inserted into the connecting hole 2121 to mount the mounting pedestal 2120 and the base 2110 together.
After the cleaning head 2100 cleans the interior wall of the cannula for a period of time, the surface of the wiper 2140 becomes dirty, requiring replacement in order to ensure cleaning quality. When the cleaning head device is replaced, the quick plug 2130 is pulled out, the base 2110 is separated from the mounting seat 2120, the mounting seat 2120 is taken out of the mounting groove, a new mounting seat 2120 is then placed into the mounting groove, and the quick plug 2130 is inserted, so that the cleaning head device is replaced. The replacement is convenient and fast, and the cleaning efficiency is improved.
In some embodiments of the present invention, the wiper 2140 has an arched cross-section, and the fixing member includes two fixing plates 2150, the fixing plates 2150 are provided with mounting holes 2151, and the connecting nut 2160 passes through the mounting holes 2151 to clamp the two fixing plates 2150 on both sides of the wiper 2140.
The wiper 2140 has an arcuate shape, is covered on the mounting base 2120, and is clamped to the mounting base 2120 by providing the fixing plates 2150 on both sides. Specifically, when the wiper 2140 and the mounting base 2120 are assembled, the wiper 2140 is first covered on the mounting base 2120, then the two fixing plates 2150 are respectively disposed on both sides of the wiper 2140, and then the two fixing plates 2150 are connected together by the coupling nut 2160, so that the wiper 2140 is clamped on the mounting base 2120, and the reverse operation is performed when the wiper 2140 and the mounting base 2120 are disassembled.
In a further embodiment of the present invention, the coupling nut 2160 is a wing nut. The connection nut 2160 is a wing nut, which is convenient to be screwed by hand when the wiper 2140 is assembled with the mounting pedestal 2120, and needs for other tools are small, so that convenience in replacement is improved.
In some embodiments of the invention, the wipe 2140 is a soft liner. When the inner wall of the sleeve is cleaned, the support rod 2300 applies a certain pressure to the wiper 2140, so that the wiper 2140 is tightly attached to the inner wall of the sleeve, and the wiping effect is better. The wiping part 2140 is made of a soft lining body, and can deform to a certain extent when being pressed, so that the wiping part is tightly attached to the inner wall of the sleeve, and the wiping effect is better.
In a further embodiment of the invention, bearings 2170 are provided on the outside of both stationary mounting plates 2112, with the difference in height between the upper end of the bearings 2170 and the upper end of the wipers 2140 being less than the compression limit of the wipers 2140.
When the cleaning head device cleans the sleeve, the wiper 2140 can be attached to the sleeve, but if the attaching force is too large, the friction between the wiper 2140 and the inner wall of the sleeve is too large, the cleaning effect is not good, and the wiper 2140 can be seriously worn. By providing the bearings 2170 on the outer sides of the two fixing mounting plates 2112, after the wiper 2140 is deformed to a certain extent, the bearings 2170 will contact the inner wall of the sleeve, preventing the wiper 2140 from being deformed by pressure, so that the wiper 2140 is subjected to a proper pressing force, and the contact force between the wiper 2140 and the inner wall of the sleeve is proper.
Meanwhile, in the wiping process, rolling friction is also generated between the bearing 2170 and the inner wall of the sleeve, so that the friction force is small, and adverse effects cannot be caused in the cleaning process.
The difference in height between the upper end of the bearing 2170 and the upper end of the wiper 2140, which is determined as a practical matter depending on the compression limit at which the wiper 2140 can be compressively deformed, determines the mounting position of the bearing 2170.
In some embodiments of the present invention, the outer end of the snap pin 2130 is provided with a force-assist portion 2131. Through setting up the part 2131 of borrowing force, be convenient for twist it at quick bolt 2130 of cartridge and move, the efficiency of further improvement change.
In some embodiments of the present invention, the bottom of the bottom plate 2111 is provided with a coupling ear 2113, the coupling ear 2113 is provided with a coupling ear hole 21131, and the support rod 2300 is hinged to the bottom plate 2111 through the coupling ear 2113.
In some embodiments of the present invention, an auxiliary support rod 2500 is further included, the auxiliary support rod 2500 and the support rod 2300 are arranged in parallel, one end of the auxiliary support rod 2500 is hinged to the bottom plate 2111 through a connection ear 2113, the other end of the auxiliary support rod is hinged to an auxiliary fixing seat 2600, and the auxiliary fixing seat 2600 is fixedly connected to the second shaft 2200. By providing the auxiliary support rod 2500, the support strength of the cleaning head 2100 and the structural strength of the robot arm are improved.
In some embodiments of the present invention, the power device 1100 is in driving connection with the driving wheel 1210 through a chain driving mechanism. The power of the motor is transmitted to the chain wheel through the worm gear and the worm, and then the driving wheel 1210 is driven to run through the chain wheel transmission.
In some embodiments of the present invention, the power plant 1100 includes a mounting housing and a power motor disposed within the mounting housing and a battery connected to the power motor. Power motor and battery are all installed in the installation shell, improve equipment's safety protection performance, and the battery provides the electric energy for whole equipment, guarantees that whole equipment need not the outside power supply that provides when intraductal walking, improve equipment's independence.
In some embodiments of the invention, the system further comprises a monitoring system for monitoring the cleaning condition inside the casing, wherein the monitoring system is electrically connected with the power device. The monitoring system mainly comprises an endoscope and a data transmission system, the endoscope can monitor the cleaning condition in the pipe and transmit the endoscope condition to workers through wireless transmission, so that the workers can know the cleaning condition and make a cleaning plan according to the actual condition.
A method of cleaning a cannula according to an embodiment of the second aspect of the invention comprises the steps of:
step S1, the equipment for cleaning and detecting the inner wall of the insulating hollow sleeve of the first aspect embodiment is arranged in the sleeve from one side of the big end of the sleeve;
step S2, the controller starts the power device to start to circularly and repeatedly clean the inner wall of the sleeve from the large end to the small end of the sleeve;
step S3, monitoring the cleaning condition of the inner wall of the sleeve and the state of the cleaning head through a monitoring system, judging whether the cleaning head needs to be replaced, if the cleaning head needs to be replaced, stopping the equipment at the large end of the sleeve, updating the cleaning head, starting the machine again after the replacement, and circulating until the cleaning effect meets the requirement;
and step 4, taking the device out of the sleeve after cleaning, and manually performing ending supplement at the positions of the two ends of the sleeve to eliminate the positions where the two ends are possibly not cleaned in place.
According to the sleeve cleaning method provided by the embodiment of the invention, the sleeve is cleaned by utilizing the cleaning and detecting equipment for the inner wall of the insulating hollow sleeve, the change of the pipe diameter of the sleeve can be automatically adapted, the cleaning efficiency and the cleaning quality of the sleeve are improved, and the labor intensity is reduced.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example" or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. The equipment for cleaning and detecting the inner wall of the insulating hollow sleeve is characterized by comprising a walking system and a cleaning system, wherein the walking system comprises a power device, a driving wheel walking device, a reducing adjusting device and a driven wheel walking mechanism, and the cleaning system comprises a second shaft lever and a plurality of groups of mechanical arms;
one end of the power device is provided with a mounting seat, and the other end of the power device is provided with a first shaft lever;
the driving wheel traveling device comprises a plurality of groups of driving wheel traveling mechanisms, each group of driving wheel traveling mechanisms comprises a driving wheel and a first connecting rod, one end of the first connecting rod is hinged with the mounting seat, the other end of the first connecting rod is connected with the driving wheel, and the power device is in transmission connection with the driving wheel so as to drive the driving wheel to travel;
the reducing adjusting device comprises a plurality of groups of reducing mechanisms, each group of reducing mechanisms comprises a second connecting rod, a first adjusting rod and a regulating system, first fixed seats and first sliding seats are arranged on the first shaft rod at intervals, the first fixed seats are fixedly arranged on the first shaft rod, the first sliding seats are movably arranged on the first shaft rod, one end of each second connecting rod is hinged with the corresponding first fixed seat, one end of each first adjusting rod is hinged with the corresponding first sliding seat, the other end of each first adjusting rod is hinged with the middle part of the corresponding second connecting rod, and the regulating system is connected with the corresponding first sliding seat to control the corresponding first sliding seat to move along the corresponding first shaft rod;
the driven wheel traveling mechanism comprises a third connecting rod and a driven wheel, one end of the third connecting rod is hinged with the other end of the second connecting rod, the other end of the third connecting rod is hinged with the middle part of the first connecting rod, and the driven wheel is arranged on the third connecting rod;
one end of the second shaft lever is arranged at the end part of the mounting seat and is rotatably connected with the power device, the other end of the second shaft lever is provided with a bearing platform, a second fixed seat and a second sliding seat are sequentially arranged on the second shaft lever from the power device to the bearing platform, the second fixed seat is fixedly connected with the second shaft lever, the second sliding seat is connected on the second shaft lever and can move along the second shaft lever, a compression spring is arranged between the second sliding seat and the bearing platform, and the compression spring is sleeved on the second shaft lever;
the multiple groups of mechanical arms are annularly arranged on the second shaft lever, each mechanical arm comprises a cleaning head, a supporting rod and a second adjusting rod, one end of the supporting rod is hinged to the cleaning head, the other end of the supporting rod is hinged to the second fixing seat, one end of the second adjusting rod is hinged to the middle of the supporting rod, and the other end of the second adjusting rod is hinged to the second sliding seat.
2. The apparatus for cleaning and inspecting the inner wall of an insulating hollow casing according to claim 1, wherein: the regulating system comprises a stepping motor and a pressure sensor, the first shaft rod is a ball screw, the first sliding seat is a screw nut arranged on the ball screw, the ball screw is in transmission connection with the stepping motor, the pressure sensor is arranged on the first adjusting rod and used for monitoring the pressure born by the first adjusting rod, and the pressure sensor is in electric control connection with the stepping motor.
3. The apparatus for cleaning and inspecting the inner wall of an insulating hollow casing according to claim 1, wherein: the regulating system comprises a regulating spring and a baffle plate, the baffle plate is fixedly arranged on the first shaft rod, the first sliding seat is positioned between the baffle plate and the first fixed seat, the regulating spring is arranged between the baffle plate and the first sliding seat, and the regulating spring is sleeved on the first shaft rod.
4. The cleaning and inspection apparatus for an inner wall of an insulating hollow casing according to any one of claims 1 to 3, wherein: the driven wheel is connected with the third connecting rod through a fine adjustment mechanism, the fine adjustment mechanism comprises a spring mounting seat, a guide rod and a fine adjustment spring, the spring mounting seat is mounted on the third connecting rod, the guide rod is vertically arranged on the spring mounting seat, a guide hole is formed in a base of the driven wheel, the driven wheel is movably connected with the guide rod through the guide hole, the fine adjustment spring is arranged between the driven wheel and the spring mounting seat, one end of the fine adjustment spring is connected with the base of the driven wheel, and the other end of the fine adjustment spring is connected with the spring mounting seat.
5. The apparatus for cleaning and inspecting the inner wall of an insulating hollow casing according to claim 1, wherein: the cleaning head includes base, installation pedestal and quick bolt, the base include the bottom plate with the both ends of bottom plate are equipped with the fixed mounting board that upwards extends, be equipped with the pinhole that runs through the face on the fixed mounting board, two the fixed mounting board with the bottom plate encloses into the mounting groove, the upper surface of installation pedestal covers has the cleaning piece to it is fixed through the mounting installation, the installation pedestal is installed in the mounting groove, the both ends of installation pedestal be equipped with the connecting hole that the pinhole corresponds, quick bolt passes fixed cartridge is in behind the pinhole in the connecting hole, with will the installation pedestal with pedestal mounting is in the same place.
6. The apparatus for cleaning and inspecting the inner wall of an insulating hollow casing according to claim 5, wherein: the cross-section of the wiping piece is arched, the fixing piece comprises two fixing plates, the fixing plates are provided with mounting holes, and connecting nuts penetrate through the mounting holes to clamp the two fixing plates on two sides of the wiping piece.
7. The apparatus for cleaning and inspecting the inner wall of an insulating hollow casing according to claim 5, wherein: the wiping piece is a soft lining body.
8. The apparatus for cleaning and inspecting the inner wall of an insulating hollow casing according to claim 7, wherein: and bearings are arranged on the outer sides of the two fixed mounting plates, and the height difference between the upper ends of the bearings and the upper end of the wiping piece is smaller than the compression limit of the wiping piece.
9. The apparatus for cleaning and inspecting the inner wall of an insulating hollow casing according to claim 1, wherein: the system also comprises a monitoring system for monitoring the cleaning condition in the sleeve, and the monitoring system is electrically connected with the power device.
10. A method of cleaning a cannula, comprising the steps of:
step S1, installing the cleaning and detecting device for the inner wall of the insulating hollow sleeve of any claim 1 to 9 into the sleeve from one side of the big end of the sleeve;
step S2, the controller starts the power device to circularly and repeatedly clean the inner wall of the sleeve from the large end to the small end of the sleeve;
step S3, monitoring the cleaning condition of the inner wall of the sleeve and the state of the cleaning head through a monitoring system, judging whether the cleaning head needs to be replaced, if the cleaning head needs to be replaced, stopping the equipment at the large end of the sleeve, updating the cleaning head, starting the machine again after the replacement, and circulating until the cleaning effect meets the requirement;
and step 4, taking the device out of the sleeve after cleaning, and manually performing ending supplement at the positions of the two ends of the sleeve to eliminate the positions where the two ends are possibly not cleaned in place.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011268800.3A CN112474643B (en) | 2020-11-13 | 2020-11-13 | Cleaning and detecting equipment for inner wall of insulating hollow sleeve and sleeve cleaning method |
| PCT/CN2021/085530 WO2022099985A1 (en) | 2020-11-13 | 2021-04-06 | Cleaning and detecting apparatus for inner wall of insulating hollow sleeve, and sleeve cleaning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011268800.3A CN112474643B (en) | 2020-11-13 | 2020-11-13 | Cleaning and detecting equipment for inner wall of insulating hollow sleeve and sleeve cleaning method |
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| Publication Number | Publication Date |
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| CN112474643A true CN112474643A (en) | 2021-03-12 |
| CN112474643B CN112474643B (en) | 2023-12-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011268800.3A Active CN112474643B (en) | 2020-11-13 | 2020-11-13 | Cleaning and detecting equipment for inner wall of insulating hollow sleeve and sleeve cleaning method |
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| Country | Link |
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| CN (1) | CN112474643B (en) |
| WO (1) | WO2022099985A1 (en) |
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