CN112474645A - Pipeline cleaning device and system - Google Patents
Pipeline cleaning device and system Download PDFInfo
- Publication number
- CN112474645A CN112474645A CN202011203071.3A CN202011203071A CN112474645A CN 112474645 A CN112474645 A CN 112474645A CN 202011203071 A CN202011203071 A CN 202011203071A CN 112474645 A CN112474645 A CN 112474645A
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- Prior art keywords
- cleaning
- pipeline
- rod
- driving unit
- pipe
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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
- B08B9/051—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 the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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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
- B08B9/0495—Nozzles propelled by fluid jets
- B08B9/0497—Nozzles propelled by fluid jets provided with additional mechanical cleaning tools
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The utility model provides a pipeline belt cleaning device and system, includes the cover body, its characterized in that: the cleaning device also comprises a first driving unit, a main rod, a cleaning assembly, a second driving unit, a third driving unit and a moving assembly; the first driving unit is positioned in the sleeve body and is connected with the main driving rod to stretch; the cleaning assembly is provided with a plurality of cleaning units, and one end of each cleaning unit is rotatably connected with one end of the main rod; the second driving unit is connected between the first driving unit and the main rod to drive the main rod and the cleaning unit to rotate; the third driving unit is arranged on the main rod and is connected with and drives the other ends of the plurality of cleaning units to extend outwards or fold inwards relative to the main rod; the moving component is connected with the sleeve body to drive the sleeve body to move. The inner wall of the pipeline is cleaned by centrifugal force provided by the main rod for the cleaning unit through rotation, the cleaning radius can be automatically adjusted, and the cleaning device is driven to be folded through the third driving unit so as to pass through the small-radius pipeline opening; high cleaning efficiency and good cleaning effect.
Description
Technical Field
The invention relates to the field of pipeline cleaning, in particular to a pipeline cleaning device and a pipeline cleaning system.
Background
There are many areas of pipe use today, such as drainage, heating, natural gas, and various industrial machines. When the pipeline is in conveying operation, various sediments can be deposited on the inner wall of the pipeline, and the conveying function of the pipeline is influenced. The existing pipeline cleaning method is usually manual cleaning, that is, a high-pressure water gun is manually held or a cleaning tool is inserted into the pipeline for cleaning. The cleaning efficiency is low, the cleaning effect is poor, the inner wall of the pipeline in a long distance is more difficult to clean, and the cleaning problem of the pipeline in stubborn dirt, the staged change of the inner diameter of the pipeline and certain special shapes is not reasonable.
Chinese patent document CN110813957A discloses a self-propelled pipe cleaning device and method, including a cylindrical spray head body, the front end of which is connected with a connection pipe for fluid, and the rear end of which is blocked by a plug; the outer part of the spray head body is provided with a brush, the outer wall of the spray head body is provided with a plurality of spray holes, the spray holes are obliquely and obliquely arranged backwards, and the oblique directions of the spray holes are consistent, so that the spray head body rotates under the action of fluid when the fluid is introduced into the spray head body and drives the brush to rotate. Although the automatic advance in the pipeline is possible, the dirt in the pipeline cannot be completely cleaned, and the cleaning efficiency is greatly uncertain.
Therefore, an automatic cleaning device which has high cleaning efficiency and excellent cleaning effect and can adapt to different inner diameters of pipelines is urgently needed.
Disclosure of Invention
The invention mainly aims to solve the problems of low efficiency, long period, high labor consumption, low cleaning quality and the like of the cleaning work of the inner wall of the pipeline in the prior art, and provides a pipeline cleaning device and a system with high cleaning efficiency and low labor consumption.
The invention adopts the following technical scheme:
the utility model provides a pipeline cleaning device, includes the cover body, its characterized in that: the cleaning device also comprises a first driving unit, a main rod, a cleaning assembly, a second driving unit, a third driving unit and a moving assembly; the first driving unit is positioned in the sleeve body and is connected with the main driving rod to stretch; the cleaning assembly is provided with a plurality of cleaning units, and one end of each cleaning unit is rotatably connected with one end of the main rod; the second driving unit is connected between the first driving unit and the main rod to drive the main rod and the cleaning unit to rotate; the third driving unit is arranged on the main rod and is connected with and drives the other ends of the plurality of cleaning units to extend outwards or fold inwards relative to the main rod; the moving component is connected with the sleeve body to drive the sleeve body to move.
Preferably, the first driving unit includes a first cylinder and a first rod; the first rod is positioned in the first cylinder body, one end of the first rod is provided with a first piston part, the first piston part is in sealing sliding fit with the inner wall of the first cylinder body and enables the first cylinder body to be divided into a first cavity and a second cavity, and the other end of the first rod is connected with the second driving unit.
Preferably, a cleaning solution is arranged in the first cavity or the second cavity; the first cavity is communicated with the second cavity through the sleeve body; or the spray pipe is provided with a speed regulating valve.
Preferably, the cleaning unit includes a second cylinder, a second rod and a brush head, one end of the second cylinder is rotatably connected to the main rod, the second rod is located in the second cylinder, one end of the second rod is provided with a second piston part, the second piston part is in sliding fit with the inner wall of the second cylinder, the other end of the second rod is located outside the second cylinder and is connected to the brush head, and the second rod can move outwards relative to the second cylinder under the action of centripetal force when the cleaning unit rotates, so that adaptive adjustment is achieved.
Preferably, the third driving unit includes a first telescopic rod group and an elastic member, the first telescopic rod group is located in the main rod and is connected with a snap ring, the snap ring is slidably arranged outside the main rod, and the elastic member is stretched between the snap ring and the other end of the main rod; the other ends of the cleaning units are connected with the clamping ring through traction wires.
Preferably, the first telescopic rod group comprises a first motor, a gear group, an inner pipe and an outer pipe; the gear set is connected between the first motor and the outer pipe, the inner pipe penetrates through the outer pipe and is in threaded fit with the outer pipe, and the clamping ring is connected to one end of the inner pipe.
Preferably, the moving assembly comprises a plurality of second telescopic rod groups, one end of each second telescopic rod group is connected with the main rod, and the other end of each second telescopic rod group is connected with the moving wheel set.
Preferably, the second telescopic rod group comprises a second motor, a gear set, an inner pipe and an outer pipe, the gear set is connected between the second motor and the outer pipe, and the inner pipe is arranged in the outer pipe in a penetrating mode and in threaded fit with the outer pipe; the movable wheel set comprises a fixing frame, a roller and a third motor, the roller is installed in the fixing frame, and the third motor is connected with the driving roller to rotate.
A pipeline cleaning system, includes control module, its characterized in that: the pipeline cleaning device comprises an identification module, a storage module, a plurality of picture sensors and the pipeline cleaning device, wherein the pipeline cleaning device can be placed in a pipeline to be cleaned; the at least one picture sensor is arranged at one end of the sleeve body, and the at least one picture sensor is arranged on the cleaning component; the identification module is connected with the picture sensor so as to judge whether dirt exists on the inner wall of the pipeline or whether a corner exists in the pipeline or identify the inner diameter of the pipeline according to the collected picture information; the storage module is connected with the identification module to store the picture information; the control module is connected with the identification module to control the pipeline cleaning device to move and/or clean according to the identification result.
Preferably, the washing machine further comprises a displacement sensor which is arranged in the washing unit to detect displacement information; the identification module is connected with the displacement sensor to obtain the inner diameter of the pipeline according to the displacement information, the control module compares the inner diameter of the pipeline with the inner diameter of the pipeline obtained through the picture sensor, and if the inner diameter of the pipeline is different from the inner diameter of the pipeline obtained through the picture sensor, an alarm is given.
As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following advantages:
1. the invention provides the required rotating speed for the main rod through the first driving unit, thereby providing the corresponding centripetal force for the cleaning unit connected with the cleaning brush head, restraining the radius of the inner wall of the cleaning pipeline by utilizing the counterforce generated when the cleaning brush head is contacted with the inner wall of the pipeline, and further realizing the automatic adjustment of the cleaning radius to adapt to the cleaning of pipelines with different inner wall radiuses.
2. According to the invention, the cleaning unit is hinged on the main rod, the traction wire is respectively connected with the clamping ring and the cleaning unit on the main rod, and the third driving unit drives the cleaning unit to extend outwards or fold inwards relative to the main rod, so that the volume of the cleaning machine is reduced when the cleaning machine is not used, and meanwhile, when some special-shaped pipelines such as bottle-shaped pipelines are cleaned, the cleaning head can extend out after entering the pipe orifice in a folded state, so that the requirement of being suitable for cleaning pipelines with different inner diameters is met.
3. According to the invention, a picture sensor is used for collecting a front image, the inner diameter of the pipeline is identified and measured, the second telescopic rod group is controlled to extend to fix the cleaning device in the pipeline, and the cleaning device is driven to move by matching with the rotation of the moving wheel group. The displacement sensor can be arranged to detect the extension distance of the brush head and compare the extension distance with the inner diameter of the pipeline identified and measured to judge the cleaning state of the brush head, so that the cleaning device can move more accurately in the pipeline, and the working efficiency of the cleaning device is improved.
4. According to the invention, the first cylinder body is arranged in the sleeve body of the cleaning device, the axial extension and contraction of the main rod can be controlled by controlling the flow rate of oil inlet and oil outlet, and when the cleaning device detects that dirt still exists at the cleaned position, the first extension rod group of the cleaning unit is controlled to extend and contract, so that the brush head returns to the position to be cleaned for repeated cleaning.
5. The spray pipe is communicated with the second cavity of the first cylinder body, the traditional hydraulic oil is converted into the cleaning solution, and the antirust hydrocarbon cleaning agent is adopted. The cleaning liquid is sprayed at the cleaning position through the spray pipe by using the pressure in the cavity. The spray pipe can be provided with a speed regulating valve, and when the device stops working, the pressure of the oil port is regulated and reduced to be lower than the set pressure of the speed regulating valve, so that the nozzle can be closed; and vice versa. This design optimizes the structure of the cleaning device itself and simplifies the cleaning fluid injection device that would otherwise be required.
6. The pipeline inner wall dirt online identification and cleaning method is characterized in that the online identification and cleaning of the pipeline inner wall dirt are realized by arranging the detection part and the control part, the identification method adopts image identification, and results are obtained through image acquisition, image preprocessing, feature extraction and image identification; and sending an instruction to the control module according to the identification result so as to control the movement mechanism of each part of the device. Can finish the automatic pipeline cleaning operation and ensure the normal use of the pipeline.
Drawings
FIG. 1 is a schematic view of the cleaning configuration of the apparatus of the present invention;
FIG. 2 is a schematic view of the overall structure of the apparatus of the present invention;
FIG. 3 is a schematic view of the moving components of the apparatus of the present invention;
FIG. 4 is a schematic view of the movement of a snap ring provided by the present invention;
FIG. 5 is a functional block diagram of the system of the present invention;
FIG. 6 is a flow chart of the dirt identification portion of the system of the present invention;
FIG. 7 is a flow chart of the fixed and moving steering portions of the system of the present invention;
FIG. 8 is a flow chart of the brushhead state detection portion of the system of the present invention;
FIG. 9 is a schematic representation of the operation of the apparatus of the present invention in a pipeline;
wherein:
10. the mobile device comprises a sleeve body, 11, a base, 12, a battery, 20, a first driving unit, 21, a first cylinder body, 22, a first rod, 23, a first piston part, 24, a first cavity, 25, a second cavity, 26, a nozzle, 27, an oil port, 30, a main rod, 31, a cross connector, 40, a cleaning component, 41, a second cylinder body, 42, a second rod, 43, a brush head, 44, a second piston part, 50, a second driving unit, 60, a third driving unit, 61, an elastic component, 62, a snap ring, 63, a traction wire, 64, a first motor, 65, a gear set, 66, an inner tube, 67, an outer tube, 70, a moving component, 71, a second motor, 72, a fixing frame, 73, a roller, 74, a third motor, 80, a control module, 90, an identification module, 100, a storage module, 110, a first picture sensor, 111, a second picture sensor, 120 and a displacement sensor.
The invention is described in further detail below with reference to the figures and specific examples.
Detailed Description
The invention is further described below by means of specific embodiments.
The terms "first," "second," "third," and the like in this disclosure are used solely to distinguish between similar items and not necessarily to describe a particular order or sequence, nor are they to be construed as indicating or implying relative importance. In the description, the directions or positional relationships indicated by "up", "down", "left", "right", "front" and "rear" are used based on the directions or positional relationships shown in the drawings, and are only for convenience of describing the present invention, and do not indicate or imply that the device referred to must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the scope of the present invention. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In addition, in the description of the present application, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
Referring to fig. 1 and 2, a pipeline cleaning device includes a housing 10, and further includes a first driving unit 20, a main rod 30, a cleaning assembly 40, a second driving unit 50, a third driving unit 60, and a moving assembly 70; the first driving unit 20 is located in the sheath 10 and connected to the main driving rod 30 for extension and retraction; the cleaning assembly 40 is provided with a plurality of cleaning units, and one end of each cleaning unit is rotatably connected with one end of the main rod 30; the second driving unit 50 is connected between the first driving unit 20 and the main lever 30 to drive the main lever 30 and the washing unit to rotate; the third driving unit 60 is installed on the main rod 30 and is connected to drive the other ends of the plurality of cleaning units to extend outwards or fold inwards relative to the main rod 30; the moving assembly 70 is connected to the jacket 10 to drive the movement thereof.
In the present invention, the sleeve body 10 is a hollow structure with one open end, and the first driving unit 20 includes a first cylinder 21 and a first rod 22; the first rod 22 is located in the first cylinder 21 and has a first piston 23 at one end, the first piston 23 is in sliding fit with the inner wall of the first cylinder 21 in a sealing manner to divide the first cylinder 21 into a first chamber 24 and a second chamber 25, and the other end of the first rod 22 is connected to the second driving unit 50. The first drive unit 20 of the present invention is a hydraulically driven structure, such as a hydraulic cylinder.
Further, the first cavity 24 or the second cavity 25 of the present invention is provided with a cleaning solution; and the spray pipe 26 is arranged at least one end of the spray pipe 26 penetrates through the sleeve body 10 to be communicated with the first cavity 24 or the second cavity 25, and a liquid spraying port of the spray pipe 26 is positioned outside the sleeve body 10. Wherein, first chamber 24 and second chamber 25 pass through oil port 27 connection oil pipe respectively, including oil inlet and oil-out, and the cleaning solution accessible oil pipe gets into first chamber 24 or second chamber 25, perhaps flows out from first chamber 24 or second chamber 25, and the cleaning agent can adopt rust-resistant type hydrocarbon cleaning agent. Preferably, the first chamber is filled with hydraulic oil, the second chamber is filled with cleaning liquid, and the nozzle 26 is communicated with the second chamber 25, so that when the first rod 22 moves and extends relative to the first cylinder 21, the cleaning liquid in the second chamber 25 can be sprayed out through the liquid spraying opening of the nozzle 26. The flow rate of the cleaning liquid sprayed from the spray pipe 26 is adjusted by controlling the flow rate of the oil port 27, and in practical applications, the spray pipe 26 may be a commercially available cleaning nozzle, which is not limited herein.
In order to better control the opening and closing of the nozzle 26, a speed regulating valve (not shown) can be arranged at the inlet end of the nozzle 26, when the device stops working, the pressure of the oil port 27 of the second cavity 25 is reduced to be lower than the preset pressure of the speed regulating valve, the liquid spraying port of the nozzle 26 is closed, otherwise, the liquid spraying pipe of the nozzle 26 is opened. This first drive unit 20 has become the cleaning solution with hydraulic oil originally, has simplified the cleaning solution injection apparatus that should originally, makes the belt cleaning device structure simpler.
The second driving unit 50 of the present invention can adopt a rotating motor, the main rod 30 is located at one end of the opening outside the sleeve body 10, and the rotating motor is connected to drive the main rod 30 to rotate, so as to further drive the cleaning unit to rotate.
The cleaning unit comprises a second cylinder 41, a second rod 42 and a brush head 43, wherein one end of the second cylinder 41 is rotatably connected with the main rod 30, the second rod 42 is positioned in the second cylinder 41, one end of the second rod is provided with a second piston part 44, the second piston part 44 is in sliding fit with the inner wall of the second cylinder 41, and the other end of the second rod 42 is positioned outside the second cylinder 41 and is connected with the brush head 43. The brush head 43 can effectively clean stains in the pipeline. The second pole 42 extends under the effect of centrifugal force until with the contact of pipeline inner wall, reaches clean effect, makes the flexible length of second pole 42 can be stable owing to the reaction force of inner wall to washing brush head 43 behind the contact inner wall to the realization adapts to the requirement of clean different pipeline internal diameters.
In practical application, the plurality of cleaning units are circumferentially distributed outside the main rod 30, the cross-shaped connecting piece 31 can be fixed at one end of the main rod 30, one ends of the plurality of second cylinder bodies 41 can be hinged with the cross-shaped connecting piece 31 so as to rotate relative to the main rod 30, and the other ends of the second cylinder bodies 41 are provided with openings for the other ends of the second rods 42 to pass through.
The third driving unit 60 includes a first telescopic rod set located inside the main rod 30 and connected with a snap ring 62, and an elastic member 61, the snap ring 62 being slidably disposed outside the main rod 30. The elastic member 61 is stretched between the snap ring 62 and the other end of the main rod 30 to play a role of buffering. The other ends of the plurality of cleaning units are connected with the snap ring 62 through pull wires 63, that is, one end of the pull wire 63 is connected with the second cylinder 41, and the other end is connected with the snap ring 62. Referring to fig. 4, the snap ring 62 is provided with a connecting portion connected to the first telescopic rod set, the main rod 30 is provided with a recess along the telescopic direction of the first telescopic rod, and the connecting portion passes through the recess, so that the snap ring 62 slides relative to the main rod 30 under the action of the first telescopic rod.
Further, the first telescopic rod group comprises a first motor 64, a gear group 65, an inner pipe 66 and an outer pipe 67; the gear set 65 is connected between the first motor 64 and the outer tube 67 for transmission, the inner tube 66 is inserted into the outer tube 67 and is in threaded engagement with the outer tube 67, and the snap ring 62 is connected to one end of the inner tube 66. When the first motor 64 is operated, the gear set 65 is rotated to further rotate the outer tube 67 in a forward direction or a reverse direction, and the inner tube 66 is extended or retracted outwardly or inwardly relative to the outer tube 67.
The invention can control the folding and the extension of the cleaning unit by controlling the sliding of the snap ring 62 on the main rod 30, thereby not only being suitable for some occasions needing the folding of the cleaning device, but also reducing the occupied space of the cleaning device and improving the convenience of the cleaning device.
The moving assembly 70 includes a plurality of second telescopic rod sets, one end of which is connected to the main rod 30 and the other end of which is connected to a moving wheel set. The structure of the second telescopic rod set may be the same as or different from that of the first telescopic rod set, for example, the second telescopic rod set includes a second motor 71, a gear set, an inner tube 66 and an outer tube 67, the gear set is connected between the second motor 71 and the outer tube 67, and the inner tube 66 is inserted into the outer tube 67 and is in threaded fit with the outer tube 67. When the second motor 71 is operated, the gear set is rotated to further rotate the outer tube 67 in a forward direction or a reverse direction, and the inner tube 66 is extended or retracted outwardly or inwardly relative to the outer tube 67. Referring to fig. 3, the moving wheel set includes a fixed frame 72, a roller 73 and a third motor 74, the roller 73 is mounted in the fixed frame 72, and the third motor 74 is connected to drive the roller 73 to rotate.
The present invention further provides a pipeline cleaning system, referring to fig. 5 and 9, including a control module 80, an identification module 90, a storage module 100, a plurality of image sensors and the pipeline cleaning device, wherein the pipeline cleaning device can be placed in a pipeline to be cleaned; the at least one picture sensor is arranged at one end of the sleeve body 10, and the at least one picture sensor is arranged on the cleaning component 40; the identification module 90 is connected with the picture sensor to judge whether dirt exists on the inner wall of the pipeline or whether a corner exists in the pipeline or identify the inner diameter of the pipeline according to the collected picture information; the storage module 100 is connected to the identification module 90 for storing the picture information; the control module 80 is coupled to the identification module 90 to control the movement and/or cleaning of the pipe cleaning apparatus based on the identification.
In the present invention, one end of the sheath 10, which is not provided with an opening, is connected to a base 11, and a battery 12 is installed in the base 11 for supplying power to each component. The picture sensor installed on the cleaning assembly 40 is used as the first picture sensor 110, and can be fixed on one side of the periphery of the second cylinder 41 close to the inner wall of the pipeline, so as to collect pictures of the inner wall of the pipeline. The picture sensor at one end of the sleeve body 10 is used as a second picture sensor 111, which can be fixed on the base 11 and is used for collecting pictures of the inner wall of the pipeline in front of the pipeline cleaning device. In practical application, the image sensor may be a CCD camera or other image capturing device.
Further, the present invention further includes a displacement sensor 120 installed in the washing unit to detect displacement information; the recognition module 90 is connected to the displacement sensor 120 to obtain the inner diameter of the pipe according to the displacement information, and the control module 80 compares the inner diameter of the pipe with the inner diameter of the pipe obtained by the picture sensor and gives an alarm if the inner diameter of the pipe is different from the inner diameter of the pipe obtained by the picture sensor. The displacement sensor 120 can be a capacitive grating sensor, is used for detecting the change of the extending length of the second rod 42, and has the outstanding characteristics of small volume, simple structure, high resolution and accuracy, high measurement speed, low power consumption, low cost, low requirement on the use environment and the like.
The control module 80 of the invention can be used for controlling the rotating speed and the rotating direction of the rotating motor, the first motor 64, the second motor 71 and the third motor 74, and can realize online identification of dirt on the inner wall of the pipeline by matching with the identification module 90, so that the cleaning device can be automatically cleaned in the pipeline, the TMS320LF2407A + STC89C52 can be adopted, and other controllers capable of realizing the same function can also be adopted. The working principle of the system of the invention is as follows:
referring to fig. 6, the recognition module 90 collects an instantaneous image, recognizes whether dirt, i.e., dirt points, remains at the cleaning position of the inner wall of the pipeline according to the picture information sent by the first picture sensor 110, and if it is recognized that dirt remains at the cleaning position of the inner wall of the pipeline, i.e., the cleaning requirement is met, the control module 80 controls the moving wheel set to stop moving, controls the main rod 30 to extend and retract through the first driving unit 20 to move the brush head 43 to a position to be cleaned, and cooperates with the second driving unit 50 to drive the cleaning unit to rotate for repeated cleaning until no dirt remains, the brush head 43 retracts, and the cleaning operation is performed again; if no dirt remains, the cleaning operation is continued.
Referring to fig. 7, the identification module 90 identifies whether a corner exists in front of the cleaning device in the axial direction according to the picture information sent by the second picture sensor 111, and if the corner exists, controls the moving wheel set and the second telescopic rod set to cooperate to complete a steering action according to the corner characteristics of the pipeline; if no corner exists, the inner diameter of the front pipeline is identified according to the acquired image, and the movable wheel set and the second telescopic rod set are controlled to complete the fixing or moving action in the pipeline.
Referring to fig. 8, when the recognition module 90 detects the displacement distance of the second rod 42 according to the displacement sensor 120, and compares the displacement distance with the inner diameter of the pipe obtained through image recognition, if the displacement distance and the inner diameter of the pipe are the same, the cleaning operation is continued; and if the two are different, a fault alarm is sent to the working personnel.
According to the invention, the cleaning condition of the cleaning position of the inner wall of the pipeline is identified on line through the identification module, if dirt still exists, the first driving unit is used for adjusting the axial extension and contraction of the cleaning device to realize repeated cleaning, so that the dirt on the inner wall of the pipeline is identified and cleaned on line, and the normal use of the pipeline is ensured. The cleaning part cleans the inner wall of the pipeline by utilizing the centrifugal force provided by the rotation of the main rod for the brush head, and simultaneously can automatically adjust the cleaning radius, and the folding mechanism is designed to enable the cleaning device to be folded to pass through a small-radius pipeline opening; the telescopic moving assembly is arranged on the sleeve body to achieve the purpose of cleaning pipelines with different long distances and different inner diameters. The cleaning liquid is used as a liquid medium in the hydraulic device, so that the overall structure of the cleaning device is simplified.
The above description is only an embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modifications made by using the design concept should fall within the scope of infringing the present invention.
Claims (10)
1. The utility model provides a pipeline cleaning device, includes the cover body, its characterized in that: the cleaning device also comprises a first driving unit, a main rod, a cleaning assembly, a second driving unit, a third driving unit and a moving assembly; the first driving unit is positioned in the sleeve body and is connected with the main driving rod to stretch; the cleaning assembly is provided with a plurality of cleaning units, and one end of each cleaning unit is rotatably connected with one end of the main rod; the second driving unit is connected between the first driving unit and the main rod to drive the main rod and the cleaning unit to rotate; the third driving unit is arranged on the main rod and is connected with and drives the other ends of the plurality of cleaning units to extend outwards or fold inwards relative to the main rod; the moving component is connected with the sleeve body to drive the sleeve body to move.
2. A pipe cleaning apparatus as claimed in claim 1, wherein: the first driving unit includes a first cylinder and a first rod; the first rod is positioned in the first cylinder body, one end of the first rod is provided with a first piston part, the first piston part is in sealing sliding fit with the inner wall of the first cylinder body and enables the first cylinder body to be divided into a first cavity and a second cavity, and the other end of the first rod is connected with the second driving unit.
3. A pipe cleaning apparatus as claimed in claim 2, wherein: cleaning liquid is arranged in the first cavity or the second cavity; the first cavity is communicated with the second cavity through the sleeve body; or the spray pipe is provided with a speed regulating valve.
4. A pipe cleaning apparatus as claimed in claim 1, wherein: the cleaning unit comprises a second cylinder body, a second rod and a brush head, one end of the second cylinder body is rotatably connected with the main rod, the second rod is located in the second cylinder body, one end of the second rod is provided with a second piston portion, the second piston portion is in sliding fit with the inner wall of the second cylinder body, the other end of the second rod is located outside the second cylinder body and is connected with the brush head, and the second rod can move outwards relative to the second cylinder body under the action of centripetal force when the cleaning unit rotates to achieve self-adaptive adjustment.
5. A pipe cleaning apparatus as claimed in claim 1, wherein: the third driving unit comprises a first telescopic rod group and an elastic piece, the first telescopic rod group is positioned in the main rod and is connected with a clamping ring, the clamping ring is slidably arranged outside the main rod, and the elastic piece is stretched between the clamping ring and the other end of the main rod; the other ends of the cleaning units are connected with the clamping ring through traction wires.
6. The pipe cleaning apparatus of claim 5, wherein: the first telescopic rod group comprises a first motor, a gear group, an inner pipe and an outer pipe; the gear set is connected between the first motor and the outer pipe, the inner pipe penetrates through the outer pipe and is in threaded fit with the outer pipe, and the clamping ring is connected to one end of the inner pipe.
7. A pipe cleaning apparatus as claimed in claim 1, wherein: the movable assembly comprises a plurality of second telescopic rod groups, one end of each second telescopic rod group is connected with the main rod, and the other end of each second telescopic rod group is connected with a movable wheel set.
8. The pipe cleaning apparatus of claim 7, wherein: the second telescopic rod group comprises a second motor, a gear set, an inner pipe and an outer pipe, the gear set is connected between the second motor and the outer pipe, and the inner pipe penetrates through the outer pipe and is in threaded fit with the outer pipe; the movable wheel set comprises a fixing frame, a roller and a third motor, the roller is installed in the fixing frame, and the third motor is connected with the driving roller to rotate.
9. A pipeline cleaning system, includes control module, its characterized in that: the pipeline cleaning device comprises an identification module, a storage module, a plurality of picture sensors and the pipeline cleaning device as claimed in any one of claims 1 to 8, wherein the pipeline cleaning device can be placed in a pipeline to be cleaned; the at least one picture sensor is arranged at one end of the sleeve body, and the at least one picture sensor is arranged on the cleaning component; the identification module is connected with the picture sensor so as to judge whether dirt exists on the inner wall of the pipeline or whether a corner exists in the pipeline or identify the inner diameter of the pipeline according to the collected picture information; the storage module is connected with the identification module to store the picture information; the control module is connected with the identification module to control the pipeline cleaning device to move and/or clean according to the identification result.
10. The pipe cleaning system of claim 9, wherein: the cleaning device also comprises a displacement sensor which is arranged in the cleaning unit to detect displacement information; the identification module is connected with the displacement sensor to obtain the inner diameter of the pipeline according to the displacement information, the control module compares the inner diameter of the pipeline with the inner diameter of the pipeline obtained through the picture sensor, and if the inner diameter of the pipeline is different from the inner diameter of the pipeline obtained through the picture sensor, an alarm is given.
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| CN202011203071.3A CN112474645A (en) | 2020-11-02 | 2020-11-02 | Pipeline cleaning device and system |
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