CN116078737A

CN116078737A - Water jet cleaning device and tank body wall surface rust removal wall climbing robot

Info

Publication number: CN116078737A
Application number: CN202310268978.5A
Authority: CN
Inventors: 孙帅帅; 张正烨; 张志颖; 宋佳; 黄梦涵
Original assignee: Yangzhou Polytechnic Institute
Current assignee: Yangzhou Polytechnic Institute
Priority date: 2023-03-12
Filing date: 2023-03-12
Publication date: 2023-05-09

Abstract

The invention belongs to the technical field of high-pressure water jet rust removal, and discloses a water jet cleaning device and a tank body wall surface rust removal wall climbing robot, wherein the water jet cleaning device comprises a shell and a high-pressure jet assembly capable of rotating in a negative pressure cavity in the shell, N sealing strips are uniformly distributed on the outer wall of the shell by taking the central line of the shell as an axis, the N sealing strips enclose to form a sealing cavity capable of accommodating the shell, and the sealing strips are in sliding connection with the shell so that each sealing strip can reciprocate along the axial direction of the shell; every sealing strip top all is fixed with the limiting plate, just the limiting plate with be connected with spacing spring between the casing. According to the radian difference of the cleaning surface, the sealing strips extend out of the shell for different lengths, so that the end face of the sealing cavity can be flexibly matched with the cambered surfaces with different radians, and the effective sealing in the negative pressure cavity in the cleaning process is further ensured.

Description

Water jet cleaning device and tank body wall surface rust removal wall climbing robot

Technical Field

The invention belongs to the technical field of high-pressure water jet rust removal, and particularly relates to a water jet cleaning device and a tank body wall surface rust removal wall climbing robot.

Background

The high-pressure water jet rust removing technology is to spray high-pressure water flow onto the surface of structure to eliminate rust on the surface of structure. At present, the high-pressure water jet rust removal technology is subjected to three development stages of high-pressure water abrasive jet, high-pressure pure water jet and high-pressure water jet based on a wall climbing robot.

According to Chinese patent (application number: CN200810195209.2, patent name: ultra-high pressure water jet wall climbing rust removing complete equipment and process), the high pressure water jet rust removing, vacuum slag discharging and wall climbing robot are integrated into a whole based on the high pressure water jet technology of the wall climbing robot. The wall climbing robot is provided with a rust removing disc with a vacuum cavity, a high-pressure spray head is arranged in the vacuum cavity of the rust removing disc, the wall climbing robot moves according to a preset path while spraying rust removing by utilizing the high-pressure spray head, a vacuum system connected with the vacuum cavity recovers waste water and waste materials in the vacuum cavity, however, the existing high-pressure spray head arranged on the wall climbing robot is arranged perpendicular to the rust removing disc, so that the flushing angle of the high-pressure spray head relative to the cleaning surface is fixed, and particularly for equipment with cambered surfaces such as an oil tank body and a pipeline, the radian of the cleaning surface is also not used (the radian of the inner surface and the outer surface is also different) due to the difference of equipment specifications, so that the water jet rust removing at the fixed angle is difficult to flexibly adapt to the efficient cleaning and rust removing of different cambered surfaces; and the existing rust removing disc and the cleaning surface are sealed by adopting rubber rings, and the rust removing disc is also difficult to be suitable for different cambered surfaces.

Disclosure of Invention

In view of the above, the present invention aims to provide a water jet cleaning device and a tank wall surface rust removal and wall climbing robot.

In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a water jet belt cleaning device, includes the casing and can be in rotatory high-pressure jet assembly in the negative pressure chamber in the casing, use on the outer wall of casing the central line of casing is the axis evenly distributed has N sealing strip, and N sealing strip encloses and closes and form one and can hold the sealed chamber of casing, just the sealing strip with casing sliding connection, so that every the sealing strip all can follow the axial direction reciprocating motion of casing.

Preferably, a limiting plate is fixed at the top of each sealing strip, and a limiting spring is connected between the limiting plate and the shell.

Preferably, along the circumferential direction of the housing: the both sides of sealing strip are equipped with arc depressed part and arc outer protruding portion respectively, and adjacent two sealing strips pass through the arc depressed part with the conflict seal cooperation of arc outer protruding portion.

Preferably, the shell comprises an inner shell and an outer shell which are fixed in sequence along the axial direction, the sealing strip is connected with the outer wall of the outer shell in a sliding manner, and one end of the outer shell is fixed with a limiting rod which penetrates through the limiting plate in a sliding manner.

Preferably, the high-pressure jet assembly comprises an inner column and an outer ring which are coaxially assembled, and M groups of telescopic brackets which are rotatably connected between the inner column and the outer ring; m axial sliding grooves are uniformly distributed on the outer wall of the inner column by taking the central line of the inner column as an axis, and a sliding seat is connected in each axial sliding groove in a sliding manner; the telescopic rack is provided with a jet nozzle, one end of the telescopic rack is rotationally connected with the sliding seat, and the other end of the telescopic rack is rotationally connected with the outer ring.

Preferably, each axial chute is internally fixed with an electric telescopic rod, and the sliding seat is connected with the telescopic end of the electric telescopic rod.

Preferably, a set of said telescopic frames comprises:

the first connecting seat is rotationally connected with the sliding seat around the first rotation direction;

the first mounting frame is rotationally connected with the first connecting seat around the second rotating direction;

the rotating ring is sleeved on the outer ring in a rotating manner around the first rotating direction;

the second connecting seat is fixed on one side of the swivel;

the second mounting frame is rotationally connected between the second connecting seat and the first mounting frame around a second rotation direction;

the second rotating direction is parallel to the central line of the inner column, the first rotating direction is perpendicular to the second rotating direction, and jet nozzles are arranged on the first mounting frame and the second mounting frame.

Preferably, the bottom end of the inner shell is opened and extends into the outer shell, a first guide ring is fixed at the bottom end of the inner shell, and a pipeline extending upwards and penetrating through the inner shell is fixed at the inner side of the first guide ring;

preferably, a second guide ring is rotatably installed between the outer side of the first guide ring and the outer shell, the inner side of the second guide ring is communicated with the outer side of the first guide ring, the second guide ring is fixedly connected with the outer ring through a hollow guide column, and a guide channel which is communicated with the hollow guide column and the jet nozzle is arranged in the outer ring and the expansion bracket.

Preferably, the outer ring is uniformly sleeved and fixed with M groups of limiting rings, and the rotating rings are in one-to-one corresponding rotating fit with the outer parts of the limiting rings.

Preferably, each group of limiting rings comprises two symmetrical convex rings, the two convex rings are respectively sealed at two ends of the rotating ring, and an annular flow guide cavity for communicating the outer ring with the telescopic frame is formed between the two convex rings.

The wall surface rust removing and wall climbing robot for the tank body comprises the water jet cleaning device.

Compared with the prior art, the invention has the following beneficial effects:

(1) According to the invention, the plurality of sealing strips capable of axially reciprocating sliding are arranged outside the shell, the sealing strips are enclosed to form the sealing cavity, and the sealing strips extend out of the shell for different lengths according to different radians of the cleaning surface, so that the end face of the sealing cavity can be flexibly matched with cambered surfaces with different radians, and the sealing of the negative pressure cavity of the water jet cleaning device in the cleaning process is ensured.

(2) The both sides of sealing strip are equipped with arc depressed part and arc outer protruding portion respectively, from this guarantee the sealing of its contact position when a plurality of sealing strips enclose.

(3) Setting a rotatable high-pressure jet assembly so as to realize rapid cleaning of different positions of the cleaning surface; simultaneously, install on the expansion bracket through with the jet spray head, the one end rotation of expansion bracket is installed on the outer loop, the other end rotation is installed on the slide, and slide accessible electric telescopic handle's flexible drive carries out axial reciprocating motion, from this change the contained angle between expansion bracket and the casing central line, and then change the jet spray head's jet angle to nimble high-efficient washing that is applicable to different cambered surfaces.

(4) The rotating ring at one end of the expansion bracket is rotationally wound on the outer ring through the limiting ring, one group of limiting rings comprises two convex rings which are symmetrically arranged, and an annular flow guide cavity which is communicated with the outer ring and the expansion bracket is formed between the two convex rings; in addition, the outer ring is communicated with the guide ring assembly through the hollow guide column, and the guide ring comprises a first guide ring and a second guide ring which can rotate relatively, so that reasonable assembly of each guide structure is effectively realized, high-pressure water flow can be guaranteed to be continuously conveyed into the jet nozzle, and cleaning quality is guaranteed.

Drawings

FIG. 1 is a schematic diagram of a water jet cleaning device according to the present invention;

FIG. 2 is a schematic view of a sealing strip according to the present invention;

FIG. 3 is a schematic view of the assembly of a plurality of sealing strips according to the present invention;

FIG. 4 is a schematic view of the structure of the high-pressure jet assembly of the present invention;

FIG. 5 is a schematic view illustrating the assembly of an electric telescopic rod, a sliding seat and a telescopic frame according to the present invention;

FIG. 6 is a schematic view of the outer ring structure of the present invention;

FIG. 7 is an enlarged view at A in FIG. 1

FIG. 8 is a cross-sectional view of the outer race, stop collar and swivel assembly of the present invention;

FIG. 9 is a cross-sectional view of the telescoping shelf of the present invention;

in the figure:

a housing-100; an inner housing-110; an outer shell-120; a first deflector ring-101; a pipe-102; a second deflector ring-103; hollow water guide column-104; a diversion channel-105; an annular diversion cavity-106;

a high pressure jet assembly-200; inner column-210; a slide-212; an axial chute-211; an electric telescopic rod-213; an outer ring-220; stop collar-221; a telescopic frame-230; jet nozzle-231; a first connection base-232; a first mount-233; swivel-234; a second connection base-235; a second mount-236;

sealing strip-300; an arc-shaped recess-301; an arcuate outer flange-302; limit plate-310; limit springs-320; stop lever-330.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Fig. 1 is a schematic structural diagram of a water jet cleaning device according to the present invention, as can be seen from the following drawings:

the water jet cleaning device includes a housing 100 and a high pressure jet assembly 200 rotatable in a negative pressure chamber within the housing 100. In addition, the housing 100 is further fixed with a negative suction pipe communicating with the negative pressure cavity, and a driving component (for example, a driving motor) connected with the high-pressure jet component 200 and driving the high-pressure jet component 200 to perform a rotational motion.

In one embodiment of the present invention, N sealing strips 300 are uniformly distributed on the outer wall of the housing 100 with the center line of the housing 100 as an axis, the N sealing strips 300 enclose a sealing cavity capable of accommodating the housing 100, and the sealing strips 300 are slidably connected with the housing 100, so that each sealing strip 300 can reciprocate along the axial direction of the housing 100.

By the above, the water jet cleaning device provided by the embodiment of the invention uses the axial movement of the sealing strip 300 to enable one end of the sealing strip 300 to tightly abut against the cleaning surface, when the cleaning surface is an arc surface, the sealing strips 300 at different positions extend out of different lengths relative to the shell 100, so that the end surface of the sealing cavity can be flexibly matched with the arc surfaces with different radians, and the sealing of the negative pressure cavity of the water jet cleaning device in the cleaning process is ensured. In addition, the independent movement of each sealing strip 300 also enables the integral water jet cleaning device to still have good sealing performance when passing through the bulges or the hollows on the wall surface of the tank body, thereby effectively realizing flexible obstacle surmounting of the integral water jet cleaning device in the cleaning and/or rust removing process.

In this embodiment, as shown in fig. 2, preferably, a limiting plate 310 is fixed on the top of each sealing strip 300, and a limiting spring 320 is connected between the limiting plate 310 and the housing 100, so that the sealing strips 300 are driven to axially move by using the telescopic deformation of the limiting spring 320, and meanwhile, the sealing strips 300 can be ensured to stably abut against the cleaning surface.

Further, the casing 100 includes an inner casing 110 and an outer casing 120 fixed in sequence along the axial direction, the sealing strips 300 are slidably connected with the outer wall of the outer casing 120, and a limiting rod 330 slidably penetrating through the limiting plate 310 is fixed at one end of the outer casing 120, so as to ensure the stability of the axial movement of each sealing strip 300.

In this embodiment, referring to fig. 3, in the circumferential direction of the housing 100: preferably, two sides of each sealing strip 300 are respectively provided with an arc-shaped concave part 301 and an arc-shaped outer convex part 302, and two adjacent sealing strips 300 are in interference sealing fit with the arc-shaped outer convex parts 302 through the arc-shaped concave parts 301, so that effective sealing at the surrounding contact positions of each sealing strip 300 is ensured.

In one embodiment of the present invention, referring to FIG. 4, the high pressure jet assembly 200 includes an inner post 210 and an outer ring 220 coaxially assembled, and M sets of telescoping mounts 230 rotatably connected between the inner post 210 and the outer ring 220.

Specifically, the driving assembly is connected to the inner column 210, the outer ring 220 may be rotatably connected to the inner wall of the outer casing 120 through a bracket (not shown), the number of the expansion brackets 230 may be 2, 3, 4 and … …, and each expansion bracket 230 is radially distributed around the central axis of the inner column 210. Taking the setting of 8 groups of expansion brackets 230 as shown in fig. 5 as an example, the 8 groups of expansion brackets 230 respectively surround the periphery of the inner column 210 at 45 ° intervals, so as to ensure the uniformity of water jet flow and ensure the cleaning and/or rust removing effect.

Further, as can be seen from fig. 4 and 5:

m axial sliding grooves 211 are uniformly distributed on the outer wall of the inner column 210 by taking the central line of the inner column 210 as an axis, an electric telescopic rod 213 is fixed in each axial sliding groove 211, and a sliding seat 212 is connected to the telescopic end of the electric telescopic rod 213;

the expansion bracket 230 is provided with a jet nozzle 231, one end of the expansion bracket 230 is rotatably connected with the slide seat 212, and the other end is rotatably connected with the outer ring 220.

In view of the above, the water jet cleaning device provided by the embodiment of the invention uses the telescopic driving of the electric telescopic rod 213 to drive the sliding seat 212 to reciprocate along the axial sliding groove 211. Taking the telescopic frame 230 at a in fig. 5 as an example, the electric telescopic rod 213 drives the sliding seat 212 to move to the same height as the outer ring 220, so that the telescopic frame 230 is kept in a horizontal state (perpendicular to the inner column 210), and meanwhile, the telescopic frame 230 is also retracted to the shortest state; taking the telescopic frame 230 at the position b in fig. 5 as an example, the electric telescopic rod 213 drives the sliding seat 212 to move toward the ii end of the inner column 210, and the movement of the sliding seat 212 drives the telescopic frame 230 to rotate relative to the outer ring 220, so as to change the relative angle between the telescopic frame 230 and the inner column 210, and further change the jet angle of the jet nozzle 231.

According to the radian difference of different cleaning surfaces and the different positions of the jet spray head 231 relative to the cleaning surfaces, flexible adjustment of the jet spray head 231 can be realized by using telescopic driving of the electric telescopic rod 213, and in the specific drawings: the jet head 231 at a is in a state of jetting parallel to the center line of the housing 100, and the jet head 231 at b is in a state of jetting outward from the center line of the housing 100.

In this embodiment, referring to fig. 5, a set of expansion brackets 230 includes:

the first connecting seat 232 is rotationally connected with the slide seat 212 around the first rotation direction;

the first mounting bracket 233 is rotatably connected with the first connecting seat 232 around the second rotation direction;

a rotating ring 234 rotatably sleeved on the outer ring 220 around the first rotation direction;

the second connecting seat 235 is fixed on one side of the swivel 232;

the second mounting frame 236 is rotatably connected between the second connecting seat 235 and the first mounting frame 233 around the second rotation direction;

the second rotation direction is parallel to the center line of the inner column 210, the first rotation direction is perpendicular to the second rotation direction, and the jet spray heads 231 are mounted on the first mounting frame 233 and the second mounting frame 236.

As can be seen from the above, the expansion and contraction of the expansion and contraction frame 230 is formed based on the relative rotation of the first mounting frame 233 and the second mounting frame 236, for example: at a in fig. 5, an included angle is formed between the first mounting frame 233 and the second mounting frame 236, and at b in fig. 5, the first mounting frame 233 and the second mounting frame 236 are stretched to be on the same straight line, so that the overall length of the telescopic frame 230 at a is smaller than that of the telescopic frame 230 at b, and flexible contraction is ensured to be suitable for rotation adjustment of the telescopic frame 230 at different angles relative to the inner column 210.

Based on the structure of the expansion bracket 230, it can be seen in fig. 6 to 9 that:

the bottom end of the inner shell 110 is opened and extends into the outer shell 120, the bottom end of the inner shell 110 is fixed with a first guide ring 101, and the inner side of the first guide ring 101 is fixed with a pipeline 102 extending upwards and penetrating the inner shell 110;

a second guide ring 103 is rotatably arranged between the outer side of the first guide ring 101 and the outer shell 120, the inner side of the second guide ring 103 is communicated with the outer side of the first guide ring 101, the second guide ring 103 is fixedly connected with the outer ring 220 through a hollow guide column 104, and a guide channel 105 which is communicated with the hollow guide column 104 and the jet spray head 231 is arranged in the outer ring 220 and the expansion bracket 230;

the outer ring 220 is uniformly sleeved and fixed with M groups of limiting rings 221, and the rotating rings 234 are in one-to-one corresponding rotating fit outside the limiting rings 221; each set of limiting rings 221 comprises two symmetrical convex rings, the two convex rings respectively seal two ends of the rotating ring 234, and an annular flow guide cavity 106 for communicating the outer ring 220 with the expansion bracket 230 is formed between the two convex rings.

In summary, the high-pressure water flow is provided to the jet spray head 231 by connecting the pipeline 102 with a high-pressure water supply pump, and the high-pressure water flow sequentially passes through the pipeline 102, the first guide ring 101, the second guide ring 103, the hollow guide column 104, the guide channel 105 in the outer ring 220, the annular guide cavity 106, and the guide channel 105 in the expansion bracket 230, then enters the jet spray head 231, and is sprayed to the cleaning surface by the jet spray head 231.

Further, the negative suction pipe of the inner housing 110 is connected to an interface (not shown) of a vacuum suction device (not shown), and the rust and waste water generated during the cleaning process are recovered and discharged by using the vacuum suction force generated by the vacuum suction device, thereby: on one hand, the purposes of reducing emission, recycling and protecting environment are achieved, and the rust return of the wall surface of the tank body can be avoided; on the other hand, the vacuum suction device is used to generate enough vacuum, so that the inner shell 110 and the sealing strip 300 are adsorbed and clung to the wall surface of the tank body in the cleaning and/or rust removing process, and a good sealing effect is achieved.

The water jet cleaning device provided by any one of the embodiments of the invention not only can be used for cleaning and/or derusting the wall surface of the tank body, but also can be applied to high-pressure water jet applications in other fields, such as cutting, crushing and the like.

In addition, the wall surface rust removing and wall climbing robot for the tank body wall surface provided by the embodiment of the invention comprises the water jet cleaning device. The water jet cleaning device is arranged on the frame of the robot so as to realize cleaning and/or rust removing operation on the wall surface of the tank body. The water jet cleaning device has the same structure and the same function as those provided in the above embodiments, and is not described here.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A water jet cleaning device comprising a housing (100) and a high pressure jet assembly (200) rotatable in a negative pressure chamber within the housing (100), characterized in that: n sealing strips (300) are uniformly distributed on the outer wall of the shell (100) by taking the central line of the shell (100) as an axis, a sealing cavity capable of accommodating the shell (100) is formed by surrounding the N sealing strips (300), and the sealing strips (300) are in sliding connection with the shell (100) so that each sealing strip (300) can reciprocate along the axial direction of the shell (100);

and a limiting plate (310) is fixed at the top of each sealing strip (300), and a limiting spring (320) is connected between the limiting plate (310) and the shell (100).

2. The water jet cleaning device according to claim 1, characterized in that in the circumferential direction of the housing (100): the two sides of the sealing strips (300) are respectively provided with an arc-shaped concave part (301) and an arc-shaped outer convex part (302), and the two adjacent sealing strips (300) are in interference sealing fit with the arc-shaped outer convex parts (302) through the arc-shaped concave parts (301).

3. The water jet cleaning device as claimed in claim 1, wherein: the shell (100) comprises an inner shell (110) and an outer shell (120) which are sequentially fixed along the axial direction, the sealing strip (300) is in sliding connection with the outer wall of the outer shell (120), and one end of the outer shell (120) is fixed with a limiting rod (330) which penetrates through the limiting plate (310) in a sliding mode.

4. A water jet cleaning device as claimed in claim 3, wherein: the high-pressure jet assembly (200) comprises an inner column (210) and an outer ring (220) which are coaxially assembled, and M groups of telescopic frames (230) which are rotatably connected between the inner column (210) and the outer ring (220);

m axial sliding grooves (211) are uniformly distributed on the outer wall of the inner column (210) by taking the central line of the inner column (210) as an axis, and a sliding seat (212) is connected in each axial sliding groove (211) in a sliding way;

the telescopic frame (230) is provided with a jet nozzle (231), one end of the telescopic frame (230) is rotationally connected with the sliding seat (212), and the other end of the telescopic frame is rotationally connected with the outer ring (220).

5. The water jet cleaning device as claimed in claim 4, wherein: an electric telescopic rod (213) is fixed in each axial sliding groove (211), and the sliding seat (212) is connected with the telescopic end of the electric telescopic rod (213).

6. The water jet cleaning device according to claim 4 or 5, wherein a set of said telescopic brackets (230) comprises:

a first connection socket (232) rotatably connected to the slide (212) around a first rotation direction;

the first mounting frame (233) is rotationally connected with the first connecting seat (232) around the second rotating direction;

a swivel (234) rotatably sleeved on the outer ring (220) around a first rotation direction;

a second connecting seat (235) fixed to one side of the swivel (232);

a second mounting bracket (236) rotatably connected between the second connection base (235) and the first mounting bracket (233) around a second rotation direction;

the second rotation direction is parallel to the center line of the inner column (210), the first rotation direction is perpendicular to the second rotation direction, and jet nozzles (231) are mounted on the first mounting frame (233) and the second mounting frame (236).

7. The water jet cleaning device as claimed in claim 6, wherein:

the bottom end of the inner shell (110) is opened and extends into the outer shell (120), a first guide ring (101) is fixed at the bottom end of the inner shell (110), and a pipeline (102) extending upwards and penetrating through the inner shell (110) is fixed at the inner side of the first guide ring (101);

the second guide ring (103) is rotatably arranged between the outer side of the first guide ring (101) and the outer shell (120), the inner side of the second guide ring (103) is communicated with the outer side of the first guide ring (101), the second guide ring (103) is fixedly connected with the outer ring (220) through a hollow guide column (104), and a guide channel (105) which is communicated with the hollow guide column (104) and the jet nozzle (231) is formed in the outer ring (220) and the expansion frame (230).

8. The water jet cleaning device as recited in claim 7 wherein: m groups of limiting rings (221) are uniformly sleeved and fixed on the outer ring (220), and the rotating rings (234) are in one-to-one corresponding rotating fit with the outer parts of the limiting rings (221).

9. The water jet cleaning device as recited in claim 8 wherein: each group of limiting rings (221) comprises two symmetrical convex rings, the two convex rings are respectively used for sealing the two ends of the rotating ring (234), and an annular flow guide cavity (106) for communicating the outer ring (220) with the telescopic frame (230) is formed between the two convex rings.

10. The utility model provides a jar body wall rust cleaning wall climbing robot which characterized in that: comprising a water jet cleaning device according to any one of claims 1 to 9.