CN114798618A - Industrial field soft robot cleaning system and use method - Google Patents
Industrial field soft robot cleaning system and use method Download PDFInfo
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- CN114798618A CN114798618A CN202210702672.1A CN202210702672A CN114798618A CN 114798618 A CN114798618 A CN 114798618A CN 202210702672 A CN202210702672 A CN 202210702672A CN 114798618 A CN114798618 A CN 114798618A
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- soft robot
- magnetic control
- traction device
- industrial field
- cleaning system
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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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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/70—Cleaning devices specially adapted for surgical instruments
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/0064—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by temperature changes
- B08B7/0071—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by temperature changes by heating
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/70—Cleaning devices specially adapted for surgical instruments
- A61B2090/701—Cleaning devices specially adapted for surgical instruments for flexible tubular instruments, e.g. endoscopes
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Mechanical Engineering (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a cleaning system and a using method of a soft robot in the industrial field, and mainly relates to the technical field of robot application; a cleaning system of a soft robot in the industrial field comprises a magnetic control soft robot and a traction device adaptive to the magnetic control soft robot, wherein mounting frames are arranged at the front end and the rear end of the traction device, universal wheels are arranged at one end, away from the traction device, of the mounting frames, an anode electromagnet adaptive to the magnetic control soft robot is arranged on the traction device, an endoscope is arranged at the front end of the traction device, a flame thrower is arranged on one side of the endoscope, the flame thrower is arranged on the traction device, a lead is connected to the rear end of the traction device, and a cathode electromagnet adaptive to the anode electromagnet is arranged in the magnetic control soft robot; the invention can realize the visible and thorough cleaning of key and hidden parts in the industrial field, effectively ensure the cleanliness and make a clean guarantee for the operation of subsequent equipment and pipelines.
Description
Technical Field
The invention relates to the technical field of robot application, in particular to a soft robot cleaning system in the industrial field and a using method thereof.
Background
At present, a large number of devices and pipelines are designed and configured in the industrial field, and the normal operation of various devices and pipelines ensures the stable operation of various industrial devices; in the stages of construction, installation, operation and maintenance, the inspection and maintenance of the clean conditions of equipment and pipelines are the basis for ensuring the safe and stable operation of the equipment and pipelines, and especially the cleanliness requirements of precision equipment instruments are very strict, such as the bearing bushes and bearing seats of a turbonator in a power plant and the interior of high-medium and low-pressure pipelines in the chemical field are clean.
However, these equipment, pipeline often have extremely hidden position "hide dirty dirt, if fail in time thoroughly to clear up, must bury hidden danger to the safe and stable operation in later stage. However, the current cleaning mode still remains in the modes of wiping, blowing, negative pressure absorption (dust collector) and the like, the traditional cleaning mode of flour dipping fine sundries is still adopted for cleaning the closed space and the narrow pipelines, and the cleaning mode can only be used for cleaning deep and remote corners with long iron wires, so that not only is food waste avoided, but also effective cleaning cannot be ensured, even for some places with sight obstruction, the specific cleaning condition cannot be checked, and the cleaning effect can only be judged by wiping the surfaces once; when a long-distance pipeline, a high-pressure pipeline or a closed container with a small caliber, which is common in the industrial field, is cleaned, the smoothness and the cleanness of the pipeline are detected only by using an air compressor to blow and then matching a steel ball with a corresponding size in a conventional mode, and particularly, for a completely closed pipeline or equipment, the pipeline or the equipment is not cleaned completely by an effective means even if the inner cleaning condition of the pipeline or the equipment can be observed by using an endoscope.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a cleaning system and a use method of a soft robot in the industrial field.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the utility model provides an industrial field software robot cleaning system, includes magnetic control software robot and the draw gear who suits with magnetic control software robot, both ends all are equipped with the mounting bracket around draw gear, the one end that draw gear was kept away from to the mounting bracket is equipped with the universal wheel, the last positive pole electro-magnet that suits with magnetic control software robot that is equipped with of draw gear, draw gear's front end is equipped with the endoscope one side of endoscope is equipped with the flame thrower, the flame thrower is installed on draw gear, draw gear's rear end is connected with the wire, be equipped with the cathode electro-magnet that suits with positive pole electro-magnet in the magnetic control software robot.
Preferably, the mounting frame is a plurality of supporting legs uniformly arranged along the circumferential direction of the traction device.
Preferably, the support legs are adjustable in length.
Preferably, the wire is wound on the take-up reel, a power supply is arranged at one end, far away from the traction device, of the wire, and a switch is arranged at one end, close to the power supply, of the wire.
Preferably, the bottom of the take-up reel is provided with a support frame, the take-up reel is rotatably connected with the support frame, and the support frame is provided with a driving motor for driving the take-up reel to rotate.
Preferably, the rear end of the flame thrower is provided with a fuel tank, and the flame thrower is connected with a lead through an electric ignition wire.
Preferably, a searchlight is arranged on one side of the endoscope.
A use method of an industrial field soft robot cleaning system comprises the following steps:
s1, selecting a proper amount of magnetic control soft robot matched with the cathode electromagnet according to the volume of the equipment to be cleaned;
s2, detecting whether the attraction force between the traction device with the anode electromagnet and the magnetic control soft robot with the cathode electromagnet meets the traction requirement, if so, carrying out the next step, and if not, adjusting until the traction requirement is met;
s3, placing the traction device at the far end of the closed equipment to be cleaned, placing the magnetic control soft robot into the closed equipment to be cleaned after the traction device penetrates through the closed equipment, and then supplying power to the traction device;
s4, checking whether the closed equipment needs to be cleaned or not through the internal condition of the closed equipment fed back by the endoscope, if so, driving the magnetic control soft robot matched with the cathode electromagnet to move by the anode electromagnet of the traction device, and cleaning the part needing to be cleaned by the movable magnetic control soft robot; if the granular sundries are encountered, the granular sundries can be heated and removed by a flame thrower, so that the granular sundries fall off and are finally carried out by the magnetic control soft robot to achieve the purpose of cleaning;
and S5, after the cleaning and checking are finished, storing and storing the magnetic control soft robot and the traction device.
Preferably, in step S4, the searchlight is turned on when the inside of the closed device is checked.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention combines the magnetic control soft robot technology with the endoscope technology, the endoscope observes the internal state of the equipment to be cleaned, the magnetic control soft robot is taken as a cleaning device, the anode electromagnet drives the magnetic control soft robot to move in the equipment to be cleaned, and the inner wall of the equipment to be cleaned is cleaned through the creeping of the magnetic control soft robot, thereby realizing the visibility and the thorough cleaning of key and hidden parts in the industrial field, effectively ensuring the cleanliness and making a cleaning guarantee for the running of subsequent equipment and pipelines.
2. The flame thrower is used for heating and removing granular impurities which cannot be directly cleaned by the magnetic control soft robot, and finally achieves the purpose of cleaning.
3. According to the invention, the front end and the rear end of the traction device are respectively provided with the mounting frame, the end of the mounting frame far away from the traction device is provided with the universal wheel, when the traction device is used, the universal wheel is abutted against the inner wall of the pipeline, the mounting frame provides support for the traction device, and the traction device can be conveniently placed in the pipeline to be cleaned.
Drawings
FIG. 1 is a schematic view of the structure of the present invention in example 1;
FIG. 2 is a schematic structural view of a magnetically controlled soft robot in embodiment 1;
FIG. 3 is a schematic view of the construction of a traction apparatus in embodiment 1;
fig. 4 is a schematic diagram of the spiral moving cleaning path of the magnetically controlled soft robot in embodiment 2.
The reference numbers in the drawings:
1. a magnetically controlled soft robot; 11. a cathode electromagnet;
2. a traction device; 21. a mounting frame; 22. a universal wheel; 23. an anode electromagnet; 24. an endoscope; 25. a flame thrower; 26. a wire; 27. a fuel tank;
3. a take-up reel; 31. a power source; 32. a switch; 33. a support frame;
4. a searchlight.
Detailed Description
The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and these equivalents also fall within the scope of the present application.
Example 1:
the magnetic control soft robot is mainly made of silica gel and soft plastic materials, wherein some magnetic control soft robots realize movement through pneumatic and some magnetic control soft robots realize movement through built-in magnet powder; nowadays, "magnetic control soft robot" has been gradually applied in medical industry, and academic circles have used it as a research target for entering human body to perform medical treatment and cure operation, and have had extensive application experience and prospect.
As shown in the accompanying drawings 1-3, the invention relates to an industrial field soft robot cleaning system, which combines a magnetic control soft robot with an endoscope, and the industrial field soft robot cleaning system comprises a magnetic control soft robot 1 and a traction device 2 adapted to the magnetic control soft robot 1, wherein mounting frames 21 are respectively arranged at the front end and the rear end of the traction device 2, and one end of each mounting frame 21, which is far away from the traction device 2, is provided with a universal wheel 22, so that the traction device 2 can be conveniently moved in equipment to be cleaned. Be equipped with the positive pole electro-magnet 23 that suits with magnetic control software robot 1 on draw gear 2, draw gear 2's front end is equipped with endoscope 24 one side of endoscope 24 is equipped with flame thrower 25, flame thrower 25 is installed on draw gear 2, and flame thrower 25 is used for heating the graininess debris that can't directly clear up magnetic control software robot 1 and gets rid of, finally reaches the purpose of clearance. The rear end of the traction device 2 is connected with a lead 26, the lead 26 has certain plasticity and strength, the anode electromagnet 23 can be pushed to move by holding the lead 26 by hand, and the endoscope 24 is electrically connected with the lead 26 through an electric wire. The inside of the magnetic control soft robot 1 is provided with a cathode electromagnet 11 matched with an anode electromagnet 23, the inside state of the equipment to be cleaned is observed by an endoscope 24, the magnetic control soft robot 1 is used as a cleaning device, the anode electromagnet 23 drives the magnetic control soft robot 1 to move in the equipment to be cleaned, the inner wall of the equipment to be cleaned is cleaned through the creeping of the magnetic control soft robot 1, when the equipment is cleaned, the magnetic control soft robot 1 can be dragged to move forwards by a lead 26, the magnetic control soft robot 1 can also be directly driven to move forwards by electromagnetic waves, and then the magnetic control soft robot 1 is driven to move along the circumferential direction of the pipeline or the direction vertical to the front and back direction, so that the visibility and the thorough cleaning of key and hidden parts in the industrial field can be realized, the cleanliness is effectively ensured, and the cleaning guarantee is provided for the running of subsequent equipment and pipelines.
Preferably, in order to facilitate the movement of the towing means in the pipeline, the mounting frame 21 is a plurality of support legs uniformly arranged along the circumference of the towing means 2.
Preferably, the support legs are adjustable in length to accommodate pipes of different internal diameters.
Preferably, in order to facilitate the storage of the lead and the control of the anode electromagnet, the lead 26 is wound on the take-up reel 3, a power supply 31 is disposed at one end of the lead 26 away from the traction device 2, and a switch 32 is disposed at one end of the lead 26 close to the power supply 31.
Preferably, in order to accomodate the wire to the take-up reel on, the bottom of take-up reel 3 is equipped with support frame 33, take-up reel 3 rotates with support frame 33 to be connected, and is equipped with on support frame 33 to be used for driving 3 pivoted driving motor of take-up reel.
Preferably, in order to provide sufficient fuel for the torch, a fuel tank 27 is provided at the rear end of the torch 25, the torch 25 is connected to the lead 26 through an electric ignition wire, and combustible materials such as butane are stored in the fuel tank 27.
Preferably, a searchlight 4 is provided at one side of the endoscope 24 for clear observation of the internal state of the apparatus to be cleaned.
Example 2:
the invention relates to a use method of a soft robot cleaning system in the industrial field, which comprises the following steps:
s1, firstly, selecting a proper amount of magnetic control soft robot 1 matched with the cathode electromagnet 11 according to the volume of the equipment to be cleaned;
s2, detecting whether the attraction force between the traction device 2 with the anode electromagnet 23 and the magnetic control software robot 1 with the cathode electromagnet 11 meets the traction requirement, if so, carrying out the next step, and if not, adjusting the anode electromagnet 23 or the cathode electromagnet 11 until the traction requirement is met;
s3, placing the traction device 2 at the far end of the closed equipment to be cleaned, wherein the closed equipment can be a pipeline, equipment and the like, smoothly completing the turning action at the bent part through the universal wheel 22 in the period, placing the magnetic control soft robot 1 at the traction device 2 in the closed equipment to be cleaned after the traction device 2 finishes penetrating through the closed equipment, then switching on the power supply 31, and switching on the switch 32 to supply power to the traction device 2;
s4, checking whether the inside of the closed equipment needs to be cleaned or not through the internal condition of the closed equipment fed back by the endoscope 24, if so, driving the magnetic control soft robot 1 matched with the cathode electromagnet 11 to move by the anode electromagnet 23 of the traction device 2, and moving according to a spiral path shown in the attached figure 4, and cleaning the part needing to be cleaned by the moving magnetic control soft robot 1; if the granular sundries are encountered, the flame thrower 25 can be adopted to heat and remove the granular sundries, so that the granular sundries fall off and are finally carried out by the magnetic control soft robot 1 to achieve the purpose of cleaning;
and S5, after the cleaning and checking are finished, storing and storing the magnetic control soft robot 1 and the traction device 2.
Preferably, in step S4, when the interior of the closed device is checked, the searchlight 4 is turned on to clearly observe the internal state of the device to be cleaned.
Claims (9)
1. The utility model provides a clean system of industrial field software robot which characterized by: draw gear (2) that adapt to including magnetic control software robot (1) and with magnetic control software robot (1), both ends all are equipped with mounting bracket (21) around draw gear (2), the one end that draw gear (2) were kept away from in mounting bracket (21) is equipped with universal wheel (22), be equipped with on draw gear (2) with magnetic control software robot (1) adaptive positive pole electro-magnet (23), the front end of draw gear (2) is equipped with endoscope (24) one side of endoscope (24) is equipped with flame thrower (25), flame thrower (25) are installed on draw gear (2), the rear end of draw gear (2) is connected with wire (26), be equipped with in magnetic control software robot (1) with positive pole electro-magnet (23) adaptive negative pole electro-magnet (11).
2. The industrial field soft robot cleaning system as claimed in claim 1, wherein: the mounting rack (21) is a plurality of supporting legs uniformly arranged along the circumferential direction of the traction device (2).
3. The industrial field soft robot cleaning system as claimed in claim 2, wherein: the length of the supporting leg is adjustable.
4. The industrial field soft robot cleaning system as claimed in claim 1, wherein: the wire (26) is wound on the take-up reel (3), a power supply (31) is arranged at one end, far away from the traction device (2), of the wire (26), and a switch (32) is arranged at one end, close to the power supply (31), of the wire (26).
5. The industrial field soft robot cleaning system as claimed in claim 4, wherein: the bottom of take-up reel (3) is equipped with support frame (33), take-up reel (3) rotate with support frame (33) and are connected, and are equipped with on support frame (33) and are used for driving take-up reel (3) pivoted driving motor.
6. The industrial field soft robot cleaning system as claimed in claim 1, wherein: the rear end of the flame thrower (25) is provided with a fuel tank (27), and the flame thrower (25) is connected with a lead (26) through an electric ignition wire.
7. The industrial field soft robot cleaning system as claimed in claim 1, wherein: and a searchlight (4) is arranged on one side of the endoscope (24).
8. A use method of a soft robot cleaning system in the industrial field is characterized by comprising the following steps:
s1, firstly, selecting a proper amount of magnetic control soft robot (1) matched with the cathode electromagnet (11) according to the volume of the equipment to be cleaned;
s2, detecting whether the attraction force between the traction device (2) provided with the anode electromagnet (23) and the magnetic control soft robot (1) provided with the cathode electromagnet (11) meets the traction requirement or not, if so, carrying out the next step, and if not, adjusting until the traction requirement is met;
s3, placing the traction device (2) at the far end of the closed equipment to be cleaned, placing the magnetic control soft robot (1) in the closed equipment to be cleaned after the traction device (2) penetrates through the closed equipment, and then supplying power to the traction device (2);
s4, checking whether the closed equipment needs to be cleaned or not through the internal condition of the closed equipment fed back by the endoscope (24), if so, driving the magnetic control soft robot (1) matched with the cathode electromagnet (11) to move by the anode electromagnet (23) of the traction device (2), and cleaning the part needing to be cleaned by the moving magnetic control soft robot (1); if the granular sundries are encountered, the flame thrower (25) can be used for heating and removing the granular sundries to ensure that the granular sundries fall off and are finally carried out by the magnetic control soft robot (1) to achieve the purpose of cleaning;
s5, after the cleaning and checking are finished, the magnetic control soft robot (1) and the traction device (2) are stored and stored.
9. The method for using an industrial field soft robot cleaning system according to claim 8, wherein the search light (4) is turned on when the inside of the closed equipment is inspected in step S4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210702672.1A CN114798618B (en) | 2022-06-21 | 2022-06-21 | Industrial field soft robot cleaning system and use method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210702672.1A CN114798618B (en) | 2022-06-21 | 2022-06-21 | Industrial field soft robot cleaning system and use method |
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| Publication Number | Publication Date |
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| CN114798618A true CN114798618A (en) | 2022-07-29 |
| CN114798618B CN114798618B (en) | 2022-09-16 |
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| CN111408588A (en) * | 2020-03-31 | 2020-07-14 | 杭州电子科技大学 | Pipeline cleaning robot and pipeline cleaning method thereof |
| KR102150301B1 (en) * | 2020-02-18 | 2020-09-01 | (주)이젠리버텍 | Water pipe cleaning method using high pressure nitrogen and Water pipe cleaning device used therefor |
| CN112683105A (en) * | 2020-12-28 | 2021-04-20 | 潍坊伟士昕气体设备有限公司 | Pneumatic pipeline cleaning equipment |
| CN113182291A (en) * | 2021-05-10 | 2021-07-30 | 青岛黄海学院 | Remote control desilting robot |
| WO2022010098A1 (en) * | 2020-07-06 | 2022-01-13 | 김윤식 | Saxophone cleaning device |
-
2022
- 2022-06-21 CN CN202210702672.1A patent/CN114798618B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202224414U (en) * | 2011-09-08 | 2012-05-23 | 沈阳永业实业有限公司 | Flexible pipe cleaner with ditches and capable of discharging |
| KR20130055950A (en) * | 2011-11-21 | 2013-05-29 | 한국철도기술연구원 | A brush compliant devices for duct cleaning robot |
| CN203917307U (en) * | 2014-07-01 | 2014-11-05 | 李伟 | The diameter adjustable rust cleaning servicing unit of keeping a public place clean for oil pipe |
| CN108971155A (en) * | 2018-06-27 | 2018-12-11 | 江苏大学 | A kind of change caliber nonmetal pipeline cleaning device |
| KR102150301B1 (en) * | 2020-02-18 | 2020-09-01 | (주)이젠리버텍 | Water pipe cleaning method using high pressure nitrogen and Water pipe cleaning device used therefor |
| CN111408588A (en) * | 2020-03-31 | 2020-07-14 | 杭州电子科技大学 | Pipeline cleaning robot and pipeline cleaning method thereof |
| WO2022010098A1 (en) * | 2020-07-06 | 2022-01-13 | 김윤식 | Saxophone cleaning device |
| TW202203199A (en) * | 2020-07-06 | 2022-01-16 | 金允植 | Saxophone cleaning device |
| CN112683105A (en) * | 2020-12-28 | 2021-04-20 | 潍坊伟士昕气体设备有限公司 | Pneumatic pipeline cleaning equipment |
| CN113182291A (en) * | 2021-05-10 | 2021-07-30 | 青岛黄海学院 | Remote control desilting robot |
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| Publication number | Publication date |
|---|---|
| CN114798618B (en) | 2022-09-16 |
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