WO2022099984A1 - 一种用于管道内壁检测清洁的装置及管道清洁方法 - Google Patents

一种用于管道内壁检测清洁的装置及管道清洁方法 Download PDF

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Publication number
WO2022099984A1
WO2022099984A1 PCT/CN2021/085529 CN2021085529W WO2022099984A1 WO 2022099984 A1 WO2022099984 A1 WO 2022099984A1 CN 2021085529 W CN2021085529 W CN 2021085529W WO 2022099984 A1 WO2022099984 A1 WO 2022099984A1
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WIPO (PCT)
Prior art keywords
cleaning
pipeline
wall
shaft
link
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PCT/CN2021/085529
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English (en)
French (fr)
Inventor
郭长春
周漾
李旦
魏朝磊
Original Assignee
长缆电工科技股份有限公司
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Application filed by 长缆电工科技股份有限公司 filed Critical 长缆电工科技股份有限公司
Publication of WO2022099984A1 publication Critical patent/WO2022099984A1/zh

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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

Definitions

  • the invention relates to the technical field of pipeline cleaning, in particular to a device and a pipeline cleaning method for detecting and cleaning the inner wall of a pipeline.
  • the diameter of the inner wall of the current large cable bushing generally varies within ⁇ 270- ⁇ 600, and the inner wall surface is a ⁇ 270- ⁇ 600 inner conical surface or a combination of multiple discontinuous inner conical surfaces.
  • the inner wall of the casing needs to be cleaned to ensure that the inner wall is clean and free from impurities such as stains, dust, and tiny particles, so as to ensure the insulation safety under high voltage and ultra-high voltage.
  • Conventional cleaning equipment is difficult to adapt to its pipe diameter. Therefore, at present, the cleaning of large-scale cable terminal sleeves still adopts manual cleaning method, which is difficult and inefficient.
  • In order to prevent carrying dirt into the pipeline or causing secondary pollution it is necessary to wrap the whole body with plastic wrap before entering the long and narrow pipeline. Cleaning is carried out inside, the working space is limited and comprehensive cleaning is not possible.
  • the present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a device for detecting and cleaning the inner wall of a pipeline, which can clean a pipeline with a reduced diameter.
  • the invention also discloses a method for cleaning a pipeline by using the above-mentioned device for detecting and cleaning the inner wall of the pipeline.
  • the technical solution adopted in the embodiment of the present invention is: a device for detecting and cleaning the inner wall of a pipeline, comprising:
  • a power system is arranged in the cylinder
  • a cleaning system both ends of the cylinder are provided with a cleaning system, the cleaning system includes a plurality of cleaning heads for cleaning the inner wall of the pipe, a first shaft and a plurality of first lifting platforms; the first shaft It is arranged along the axial direction of the cylinder and is connected with the power system to drive the first shaft to rotate. Two first connecting seats are sleeved on the first shaft at intervals.
  • the rod is sleeved with a first support spring that pushes the two first connecting bases to move relative to each other;
  • the first lifting platforms are evenly arranged around the first shaft rod, and each of the first lifting platforms includes two cleaning link mechanisms , both of the cleaning link mechanisms include a first cleaning link and a second cleaning link, the opposite ends of the first cleaning link and the second cleaning link are hingedly connected, and the two first cleaning links are The top ends are both connected to the cleaning head, the bottom ends of the two second cleaning links are hingedly connected to one of the first connecting seats, and a third cleaning link is arranged between the two second cleaning links. Both ends of the third cleaning connecting rod are respectively rotatably connected with the two second cleaning connecting rods;
  • the walking system includes an installation sleeve, a movement support mechanism and a second lifting platform; the installation sleeve is installed in the cylinder, and each side surface of the installation sleeve is provided with a movement guide rail, and the movement guide rail runs along the The axial arrangement of the installation sleeve; the motion support mechanism includes two oppositely arranged motion support units, and the two motion support units are movably connected to the motion guide rail; the second lifting platform includes two A walking link mechanism, both of the walking link mechanisms include a first walking link and a second walking link, the opposite ends of the first walking link and the second walking link are hingedly connected, and the two first walking link The top ends of the walking links are connected with the driving wheel mechanism, the bottom ends of the two second walking links are hingedly connected with one of the motion support units, and a third walking link is arranged between the two second walking links. The two ends of the third traveling link are respectively connected in rotation with the two second traveling links.
  • the device for detecting and cleaning the inner wall of the pipe has at least the following beneficial effects: when cleaning the continuously variable diameter pipe, the walking system can shrink or expand with the change of the pipe diameter, so as to adapt to the cable When the diameter of the casing changes, the self-adaptive walking in the pipe is completed.
  • the cleaning system moves forward with the walking system, and the tension provided by the first support spring keeps the cleaning head in contact with the inner wall of the pipe, so as to complete the cleaning system. Cleaning of the inner walls of pipes with varying inner diameters.
  • the two ends of the first shaft are provided with bearing platforms
  • the two first connecting seats are both slidably sleeved on the first shaft
  • the two bearing platforms and the corresponding The first support springs are arranged between the first connection seats.
  • one of the two first connecting bases is fixedly connected to the first shaft rod, the other is slidably sleeved on the first shaft rod, and the first shaft rod slides correspondingly on the first shaft rod.
  • One end of the first connecting seat of the sleeve is provided with a bearing platform, and the first supporting spring is arranged between the bearing platform and the slidingly arranged first connecting seat.
  • the cleaning head includes a base and a mounting seat
  • the base includes a bottom plate
  • two ends of the bottom plate are provided with fixed mounting plates extending upward
  • the mounting seat is in the shape of a circular cylinder
  • the The arc surface of the mounting seat is covered with a cleaning towel, and the cleaning towel is installed and fixed on the mounting seat by a fixing member.
  • the mounting seat is in the shape of a semi-circular cylinder
  • the arc of the mounting seat faces outward
  • the bottom plane of the mounting seat is provided with a connecting lug
  • the fixing member includes two fixing plates
  • the two fixing plates are respectively arranged on both sides of the arc surface of the mounting seat, one side of the fixing plate is pressed on the cleaning towel, the fixing plates are fixed by connecting with the connecting ears, and the A limiting mechanism is arranged between the mounting seat and the base to limit the rotation range of the mounting seat.
  • the limit mechanism includes a limit groove and two angle limit blocks, the limit groove is horizontally arranged on the bottom plane of the mounting seat, and the two limit blocks are connected to the The base is fixedly connected and located on the rotation path of the limiting groove to limit the rotation range of the mounting seat.
  • both the fixed mounting plates are provided with guide wheels, and the height difference between the upper ends of the guide wheels and the upper end of the cleaning towel is smaller than the compression limit of the cleaning towel.
  • both of the motion support units include a second shaft rod and a second support spring
  • the two second shaft rods are oppositely disposed on the side surface of the installation sleeve and along the installation
  • the axial arrangement of the sleeve, the away ends of the two second shaft rods are fixedly connected with the installation sleeve through the second connecting seat, and the opposite ends of the two second shaft rods are respectively slidably connected with lifting platform sliders
  • the second support spring is sleeved on the second shaft, and is located between the slider of the lifting platform and the second connecting seat, and the sliders of the lifting platform are both slidably connected to the motion guide rail , the bottom end of the second traveling link is hingedly connected with the sliding block of the lifting platform.
  • the cylinder is provided with a monitoring system for monitoring the cleaning condition inside the pipeline, and the monitoring system is electrically connected with the power system.
  • Step S1 the device of the first aspect embodiment for detecting and cleaning the inner wall of the pipeline is loaded into the inside of the pipeline from the side of the large end of the pipeline;
  • Step S2 the controller starts the power system, and starts to repeatedly clean the inner wall of the pipeline from the big end to the small end of the pipeline;
  • Step S3 monitor the cleaning condition of the inner wall of the pipeline and the state of the cleaning head through the monitoring system, and judge whether the cleaning head needs to be replaced. If the cleaning head needs to be replaced, stop the equipment at the big end of the pipeline, update the cleaning head, and start the machine again after the replacement. , cycle until the cleaning effect meets the requirements;
  • Step S4 After the cleaning is completed, the equipment is taken out from the pipeline, and the ends of the pipeline are manually supplemented to eliminate the places where the two ends may not be cleaned properly.
  • the pipeline cleaning method according to the embodiment of the present invention has at least the following beneficial effects: the present invention uses the device for detecting and cleaning the inner wall of the pipeline to clean the pipeline, which can automatically adapt to changes in the diameter of the pipeline, thereby improving the cleaning efficiency and cleaning of the pipeline. quality and reduce labor intensity.
  • FIG. 1 is a schematic diagram of the overall structure of a device for detecting and cleaning the inner wall of a pipeline according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a device for detecting and cleaning the inner wall of a pipeline in a cleaning pipeline.
  • Fig. 3 is the structural representation of the walking system
  • Fig. 4 is the structural representation of cleaning system
  • Fig. 5 is the partial enlarged schematic diagram in Fig. 4;
  • FIG. 6 is a schematic structural diagram of the cleaning head in FIG. 5 rotated to a certain angle.
  • Cleaning head 110 base 111, mounting seat 112, bottom plate 1111, fixed mounting plate 1112, cleaning towel 1121, connecting ear 122, first shaft 120, connecting seat 121, first lifting platform 130, first cleaning connecting rod 131, The second cleaning link 132, the third cleaning link 133, the fourth cleaning link 134, the fixing piece 140, the limiting groove 151, the angle limiting block 152, the guide wheel 160, the first supporting spring 170, the motor 180, the bearing Taiwan 190;
  • the azimuth description such as the azimuth or position relationship indicated by up, down, front, rear, left, right, etc.
  • the azimuth description is based on the azimuth or position relationship shown in the drawings, only In order to facilitate the description of the present invention and simplify the description, it is not indicated or implied that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
  • the meaning of several is one or more, the meaning of multiple is two or more, greater than, less than, exceeding, etc. are understood as not including this number, above, below, within, etc. are understood as including this number. If it is described that the first and the second are only for the purpose of distinguishing technical features, it cannot be understood as indicating or implying relative importance, or indicating the number of the indicated technical features or the order of the indicated technical features. relation.
  • the following describes an apparatus for detecting cleaning of an inner wall of a pipe according to an embodiment of the present invention with reference to FIG. 1 to FIG. 4 .
  • the device for detecting cleaning of the inner wall of a pipe includes:
  • the cylinder body 100, the cylinder body 100 is provided with a power system
  • both ends of the cylinder body 100 are provided with a cleaning system, and the cleaning system includes a plurality of cleaning heads 110 for cleaning the inner wall of the pipeline, a first shaft 120 and a plurality of first lifting platforms 130;
  • the first shaft rod 120 is arranged along the axial direction of the cylinder body 100 and is connected with the power system to drive the first shaft rod 120 to rotate.
  • a first support spring 170 that pushes the two first connecting bases 121 to move relative to each other is sleeved on the 120;
  • the first lifting platforms 130 are evenly arranged around the first shaft 120, and each first lifting platform 130 includes two cleaning link mechanisms, both of which include a first cleaning link 131 and a second cleaning link 132.
  • the opposite ends of a cleaning rod 131 and the second cleaning rod 132 are hingedly connected, the top ends of the two first cleaning rods 131 are connected with the cleaning head 110, and the bottom ends of the two second cleaning rods 132 are respectively connected with a first cleaning rod
  • the seat 121 is hingedly connected, a third cleaning connecting rod 133 is arranged between the two second cleaning connecting rods 132, and the two ends of the third cleaning connecting rod 133 are respectively rotatably connected with the two second cleaning connecting rods 132;
  • the walking system including the installation sleeve 210, the motion support mechanism and the second lifting platform;
  • the installation sleeve 210 is installed in the cylinder body 100, and each side surface of the installation sleeve 100 is provided with a moving guide rail, and the moving guide rail is arranged along the axial direction of the installation sleeve 210;
  • the motion support mechanism includes two motion support units 220 arranged opposite to each other, and the two motion support units 220 are connected to the motion guide rail in a relatively movable manner;
  • the second lifting platform includes two traveling link mechanisms 230 , both of which include a first traveling link 231 and a second traveling link 232 , and opposite ends of the first traveling link 231 and the second traveling link 232 Hinged connection, the top ends of the two first walking links 231 are connected with the driving wheel mechanism 240, the bottom ends of the two second walking links 232 are respectively hinged with a motion support unit 220, and a set between the two second walking links 232 is provided.
  • There is a third travel link 250 and two ends of the third travel link 250 are respectively rotatably connected with the two second travel links 232 .
  • the walking system can shrink or expand with the change of the diameter of the pipe, so as to adapt to the change of the diameter of the cable sleeve, and then The self-adaptive walking in the tube is completed, the cleaning system moves forward with the walking system, and the tension provided by the first support spring 170 keeps the cleaning head 110 in contact with the inner wall of the sleeve 300 all the time, thereby completing the change of the inner diameter of the sleeve. 300 for inner wall cleaning work.
  • the two motion support units 220 are relatively close to each other, and the driving wheel mechanism 240 is at the highest point.
  • the traveling system is put into the casing through the fixture, and the driving wheel mechanism 240 is stably close to the inner wall of the casing 300 .
  • the walking system walks along the direction of the pipe diameter of the casing 300 becoming smaller and smaller.
  • the distance between the driving wheel mechanism 240 and the installation sleeve 210 is getting smaller and smaller, and the pressure of the driving wheel mechanism 240 from the inner wall of the casing is increasing, forcing the first travel link 231 and the second travel link 232 to straighten
  • the state changes towards the bent state.
  • the distance between the top ends of the two first walking links 231 is relatively fixed.
  • the first walking link 231 rotates around the connection position with the driving wheel mechanism 240 , so that the two first walking links 231 rotate around the connection position with the driving wheel mechanism 240 .
  • the distance between the lower ends of the traveling links 231 increases continuously, and drives the distance between the top ends of the two second traveling links 232 to increase continuously.
  • the two second travel links 232 rotate around the third travel link 250, so that the bottom ends of the two second travel links 232 The distance between them keeps increasing, so that the two movement supporting units 220 keep moving away from each other.
  • the height of the first lifting platform 130 needs to be adjusted along with the decreasing diameter of the pipe.
  • the two first connecting seats 121 are moved back to press the first supporting spring 170 to contract.
  • the two second cleaning rods 132 rotate around the third cleaning rod 133, and the two The distance between the top ends of the second cleaning rods 132 increases, and the distance between the lower ends of the first cleaning rods 131 increases accordingly, and rotates around the connection position with the cleaning head 110, finally making the first cleaning rods 131 and the second cleaning rods 131 and the second cleaning rod 131.
  • the cleaning rod 132 changes from the straight state to the bent state, and the overall height of the first lifting platform 130 gradually decreases.
  • the walking system travels in the direction of increasing casing diameter.
  • the distance between the driving wheel mechanism 240 and the installation sleeve 210 is getting larger and larger, and the pressure of the driving wheel mechanism 240 from the inner wall of the sleeve is getting smaller and smaller.
  • the two movement support units 220 move toward each other, and drive the bottom ends of the two second travel links 232 to keep approaching, and the distance between them decreases.
  • the two second travel links 232 rotate around the third travel link 250, so that the distance between the top ends of the two second travel links 232 is constantly approaching.
  • the distance between the lower ends of the driving first travel link 231 is continuously reduced.
  • the first traveling link 231 and the second traveling link 232 change from the bent state to the straight state, and the overall length increases, so that the driving wheel mechanism 240 is always close to the inner wall of the casing.
  • the pressure of the cleaning head 110 from the tube wall decreases, the force received by the first support spring 170 decreases, and begins to stretch, pushing the two first connecting seats 121 to move toward each other.
  • the two first connecting bases 121 gradually approach, the distance between the bottom ends of the two second cleaning rods 132 decreases continuously, the two second cleaning rods 132 rotate around the third rod 330, and the two The distance between the top end of the second cleaning rod 132 decreases, and the distance between the lower end of the first cleaning rod 131 decreases, and rotates around the connection position with the cleaning head 110, so that the first cleaning rod 131 and the second cleaning rod are finally connected.
  • the link 132 changes from the bent state to the straight state, and the overall height of the first lifting platform 130 gradually increases.
  • both ends of the first shaft rod 120 are provided with bearing blocks 190 , the two first connecting seats 121 are both slidably sleeved on the first shaft rod 120 , and the two bearing platforms 190 and the corresponding first connecting seat A first support spring 170 is provided between the 121 .
  • the two first connecting bases 121 are both slidably sleeved on the first shaft rod 120 . During the cleaning process, the two first connecting bases 121 can move relatively under the action of the corresponding first supporting springs 170 .
  • one of the two first connecting bases 121 is fixedly connected to the first shaft rod 120, the other is slidably sleeved on the first shaft rod 120, and the first shaft rod 120 corresponds to the first shaft rod 120 of the sliding sleeve.
  • One end of a connection seat 121 is provided with a support platform 190 , and a first support spring 170 is provided between the support platform 190 and the slidingly arranged first connection seat 121 .
  • one of the first connecting bases 121 is fixedly connected with the first shaft rod 120 and cannot move, and the other is slidably sleeved on the first shaft rod 120 , and under the action of the first support spring 170 , it can be moved in the first The shaft 120 moves up.
  • the cleaning head 110 includes a base 111 and a mounting seat 112.
  • the base 111 includes a bottom plate 1111 and two ends of the bottom plate 1111 are provided with fixed mounting plates 1112 extending upward.
  • the circular arc surface of the seat 1111 is covered with a cleaning towel 1121 , and the cleaning towel 1121 is installed and fixed on the mounting seat 112 through the fixing member 140 .
  • the cleaning system moves along the direction of the pipe along with the related equipment, and cleans the pipe wall as the power system 180 rotates and advances, and the cleaning head 110 always keeps a fit state with the pipe wall.
  • the drum-shaped mounting seat 112 will rotate continuously, and the cleaning towel 1121 covering the drum-shaped cleaning cloth 1121 continuously wipes the tube wall. Because the mounting seat 112 is continuously rotated, the entire surface of the cleaning towel 1121 is applied, which improves the cleaning efficiency of the cleaning towel 1121 . After a period of use, the cleaning towel 1121 can be removed from the mounting seat 112 and replaced with a new cleaning towel 1121 to ensure cleaning quality.
  • the mounting seat 112 is in the shape of a semi-circular cylinder, the arc of the mounting seat 112 faces outward, and the bottom plane of the mounting seat 112 is provided with connecting ears 1122 for fixing
  • the component 140 includes two fixing plates.
  • the two fixing plates 140 are respectively arranged on both sides of the arc surface of the mounting seat 112. One side of the fixing plate 140 is pressed on the cleaning towel 1121.
  • the fixing plate 140 is fixed by connecting with the connecting ears 1122.
  • a limiting mechanism is arranged between the seat 112 and the base 111 to limit the rotation range of the mounting seat 112 .
  • the mounting seat 112 is in the shape of a semi-circular cylinder, so that the cleaning towel 1121 can be easily fixed on the mounting seat 1120 .
  • the cleaning towel 1121 is fixed on the mounting seat 112
  • the two sides are then pressed by two fixing plates, and then the two fixing plates are connected and fixed with the connecting ears 1122, thereby Press the cleaning towel 1121 onto the mounting seat 112 tightly.
  • the fixing plate and the connecting ear 1122 When replacing, loosen the fixing plate and the connecting ear 1122, and replace the cleaning towel 1121 with a new one.
  • a limit mechanism is provided to limit the rotation range of the mounting seat 112 to ensure that the cleaning surface of the mounting seat 112 contacts the inner wall of the casing.
  • the mounting seat 112 Because of the existence of the mounting seat 112 due to the limiting mechanism, the mounting seat 112 cannot continue to rotate after it rotates to a certain angle. Therefore, the cleaning towel 1121 arranged on the mounting seat 112 is only used on the side that is in contact with the pipe wall. The side of the cleaning towel 1121 that is not in contact with the tube wall is not used.
  • the cleaning system travels in the opposite direction in the casing along with the traveling system to clean the casing for a second time, which improves the cleaning effect. , and stop continuing to rotate under the action of the limiting mechanism, so that the cleaning towel 1121 on the unused side is reused, which improves the use efficiency of the cleaning towel 1121 .
  • the limiting mechanism limits the rotation range of the mounting seat 112 between -37°-37°.
  • This design is suitable for the pipe diameter of the commonly used cable sleeves, and the use range of one side is exactly 0°-37°, and the other side is -37°-0°. In this way, the entire cleaning surface of the cleaning towel 1121 is fully used.
  • the limit mechanism includes a limit slot 151 and two angle limit blocks 152 , the limit slot 151 is horizontally arranged on the bottom plane of the mounting seat 112 , and the two limit blocks 152 are both fixed to the base 111 . It is connected and located on the rotation path of the limiting groove 151 to limit the rotation range of the mounting seat 112 .
  • the mounting seat 112 after the mounting seat 112 is rotated to a certain angle, when the limiting groove 151 is rotated to contact with the angle limiting block 152 on one side, the mounting seat 112 cannot continue to rotate.
  • the mounting seat 112 When the mounting seat 112 is rotated to the other side, when the limiting groove 151 is rotated to contact the angle limiting block 152 on the other side, the mounting seat 112 cannot continue to rotate.
  • the rotation range of the mounting seat 112 is limited between the two angle limiting blocks 152 , so that the cleaning towel 1121 on the mounting seat 112 is always kept in contact with the pipe wall.
  • two fixed mounting plates 1112 are provided with guide wheels 160 , and the height difference between the upper end of the guide wheels 160 and the upper end of the cleaning towel 1121 is smaller than the compression limit of the cleaning towel 1121 .
  • the guide wheels 160 are provided on the outer sides of the two fixed mounting plates 1112. After the cleaning towel 1121 is deformed to a certain extent, the guide wheels 160 will contact the inner wall of the casing, preventing the cleaning towel 1121 from being deformed under pressure, so that the cleaning towel 1121 can be properly If the squeezing force is high, the adhesion force between the cleaning towel 1121 and the sleeve will be appropriate.
  • the height difference between the upper end of the guide wheel 160 and the upper end of the cleaning towel 1121 depends on the compression limit of the cleaning towel 1121 that can be deformed under pressure. Note that the compression limit mentioned here does not refer to the compression limit that the cleaning towel 1121 itself can withstand, but refers to the compression limit that the cleaning towel 1121 can withstand.
  • the allowable compression standard limit limit, this height difference is determined according to the actual situation, so as to determine the installation position of the guide wheel 160 .
  • a fourth cleaning link 134 is provided between the two first cleaning links 131 , and two ends of the fourth cleaning link 134 are rotatably connected to the two first cleaning links 131 respectively.
  • the base 1111 includes two installation rods arranged in parallel, the two installation rods are arranged in parallel, the two ends of the installation rods are respectively connected with the two fixed installation plates 1112, and the upper ends of the two first cleaning rods 131 are respectively Hinged with a mounting rod.
  • the power system is a motor, and the motor and the first shaft 120 are connected through a coupling.
  • both motion support units include a second shaft rod 221 and a second support spring 222 , and the two second shaft rods 221 are oppositely disposed on the side surface of the installation sleeve 210 and along the installation sleeve 210
  • the opposite ends of the two second shaft rods 221 are slidably connected to the lifting platform sliders 224 respectively, and the second support
  • the spring 222 is sleeved on the second shaft rod 221, and is located between the lifting platform slider 224 and the second connecting seat 223.
  • the two lifting platform sliders 224 are both slidably connected to the moving guide rail. It is hingedly connected with the lifting platform slider 224 .
  • the application of the second support spring 222 to the elevator block 224 and the inner wall of the sleeve is applied to the driving wheel mechanism 240
  • the pressure of the two maintains a dynamic balance, so that the driving wheel mechanism 240 is always in close contact with the inner wall of the casing to realize automatic adjustment.
  • the traveling system travels in the direction that the diameter of the casing pipe becomes smaller and smaller.
  • the distance between the driving wheel mechanism 240 and the installation sleeve 210 is getting smaller and smaller, and the pressure of the driving wheel mechanism 240 from the inner wall of the casing is increasing, forcing the first travel link 231 and the second travel link 232 to straighten
  • the state changes to the bent state, so that the distance between the bottom ends of the two second travel links 232 increases continuously, pushes the two lifting platform sliders 224 away from each other, and finally compresses the second support spring 222 to contract.
  • the second support spring 222 stretches, pushing the two lifting platform sliders 224 to move closer, and finally the first traveling link 231 and the second traveling link 232 Change from the bent state to the straight state.
  • the driving wheel mechanism 240 is a dual driving wheel integrated machine, including a connecting shaft 241 and a driving wheel 242 disposed at both ends of the connecting shaft 241, and the moving guide rail includes two parallelly arranged slide rails 260, the two slide rails A lifting platform slider 224 is slidably connected to the 260 , and the top ends of the two first walking links 231 are respectively connected to both ends of the connecting shaft 241 .
  • the driving wheel mechanism 240 is an integrated machine with dual driving wheels. During the running process, the motor carried by the driving wheel 242 drives the driving wheel 242 to travel in the tube.
  • the integrated machine with dual driving wheels has two driving wheels 242, which are more stably attached to the inner wall of the casing during the walking process.
  • the two driving wheels 242 are connected together by the connecting shaft 241.
  • the top end is connected with the connecting shaft 241 , and the first traveling link 231 can rotate around the connecting position with the connecting shaft 241 .
  • the mounting sleeve 210 is a square columnar structure.
  • the four sides of the installation sleeve 210 are provided with driving wheel mechanisms 240, so as to ensure that no excessive lateral movement occurs during the formation of the sleeve. More stable advancement during casing running.
  • the center of the installation sleeve 210 is provided with a connecting shaft hole 211 along the axial direction. As shown in FIG. 1 , when the walking system of the present application is installed on the cleaning mechanism using the sleeve, it is installed in the cylinder body 100 , and the first shaft rod 120 is disposed through the connecting shaft hole 211 .
  • the cylinder body 100 is provided with a monitoring system for monitoring the cleaning condition inside the pipeline, and the monitoring system is electrically connected with the power system.
  • the monitoring system mainly includes an endoscope 270 and a data transmission system.
  • the endoscope 270 can monitor the cleaning situation in the tube, and transmit the situation of the endoscope to the staff through wireless transmission, so that the staff can understand the cleaning situation and formulate cleaning according to the actual situation. plan.
  • Step S1 the device for detecting and cleaning the inner wall of the pipeline according to the embodiment of the first aspect is loaded into the inside of the pipeline from the side of the large end of the pipeline;
  • Step S2 the controller starts the power system, and starts to cycle and repeatedly clean the inner wall of the pipeline from the large end to the small end of the pipeline;
  • Step S3 monitor the cleaning condition of the inner wall of the pipeline and the state of the cleaning head through the monitoring system, and judge whether the cleaning head needs to be replaced. If the cleaning head needs to be replaced, stop the equipment at the big end of the pipeline, update the cleaning head, and start the machine again after the replacement. , cycle until the cleaning effect meets the requirements;
  • Step S4 After the cleaning is completed, the equipment is taken out from the pipeline, and the ends of the pipeline are manually supplemented to eliminate the places where the two ends may not be cleaned properly.
  • the invention uses the device for detecting and cleaning the inner wall of the pipeline to clean the pipeline, can automatically adapt to the change of the pipe diameter, improve the cleaning efficiency and cleaning quality of the pipeline, and reduce the labor intensity.

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  • Mechanical Engineering (AREA)
  • Cleaning In General (AREA)

Abstract

一种用于管道内壁检测清洁的装置，在对连续变径的管道进行清洁的时候，行走系统可以随着管径的变化进行收缩或者伸展，从而适应电缆套管（300）管径变化的情况，进而完成在管内自适应行走，清洁系统随着行走系统前进，通过第一支撑弹簧（170）提供的张紧力，使得清洁头（110）始终和管道的内壁保持贴合，从而完成对内径变化的管道的内壁清洁工作。

Description

一种用于管道内壁检测清洁的装置及管道清洁方法 技术领域
本发明涉及管道清洁技术领域，特别是涉及一种用于管道内壁检测清洁的装置及管道清洁方法。
背景技术
目前的大型电缆套管的内壁管径一般在Φ270-Φ600内变化，其内壁面为一个Φ270-Φ600的内锥面或多个非连续内锥面的组合。在进行套管安装时，套管内壁需要进行清洁，保证内壁干净无污渍、灰尘、微小颗粒等杂质，以确保在高压和超高压下的绝缘安全。常规的清洁设备难以适应其管径的情况。因此，目前大型电缆终端套管的清洁仍采用人工清洁方式，人工清洁困难、低效，为了防止携带脏污进管道或引起二次污染，需要事先在全身裹上保鲜膜再进入到狭长的管道内进行清洁，作业空间受限且无法做到全面清洁。
发明内容
本发明旨在至少解决现有技术中存在的技术问题之一。为此，本发明提出一种用于管道内壁检测清洁的装置,能够对变径的管道进行清洁。
本发明还公开了一种利用上述用于管道内壁检测清洁的装置对管道清洁方法。
本发明实施例所采用的技术方案是：一种用于管道内壁检测清洁的装置，包括：
筒体，所述筒体内设有动力系统；
清洁系统，所述筒体的两端均设有清洁系统，所述清洁系统包括多个用于清洁管道内壁的清洁头、第一轴杆和多个第一升降台；所述第一轴杆沿所述筒体的轴向设置，并与所述动力系统传动连接，以驱 动所述第一轴杆转动，所述第一轴杆上间隔套装有两第一连接座，所述第一轴杆上套装有推动两所述第一连接座相对运动的第一支撑弹簧；所述第一升降台绕所述第一轴杆均匀布置，每一所述第一升降台包括两清洁连杆机构，两所述清洁连杆机构均包括第一清洁连杆和第二清洁连杆，所述第一清洁连杆和第二清洁连杆的相对端铰连接，两所述第一清洁连杆的顶端均和所述清洁头连接，两所述第二清洁连杆的底端分别和一所述第一连接座铰连接，两所述第二清洁连杆之间设有第三清洁连杆，所述第三清洁连杆的两端分别和两所述第二清洁连杆转动连接；
行走系统，包括安装套筒、运动支撑机构和第二升降台；所述安装套筒安装在所述筒体内，所述安装套筒的每一侧表面均设有运动导轨，所述运动导轨沿所述安装套筒的轴向设置；所述运动支撑机构包括两相对设置的运动支撑单元，两所述运动支撑单元可相对运动的连接在所述运动导轨上；所述第二升降台包括两行走连杆机构，两所述行走连杆机构均包括第一行走连杆和第二行走连杆，所述第一行走连杆和第二行走连杆的相对端铰连接，两所述第一行走连杆的顶端均和驱动轮机构连接，两所述第二行走连杆的底端分别和一所述运动支撑单元铰连接，两所述第二行走连杆之间设有第三行走连杆，所述第三行走连杆的两端分别和两所述第二行走连杆转动连接。
根据本发明实施例的用于管道内壁检测清洁的装置，至少具有如下有益效果：在对连续变径的管道进行清洁的时候，行走系统可以随着管径的变化进行收缩或者伸展，从而适应电缆套管管径变化的情况，进而完成在管内自适应行走，清洁系统随着行走系统前进，通过第一支撑弹簧提供的张紧力，使得清洁头始终和管道的内壁保持贴合，从而完成对内径变化的管道的内壁清洁工作。
根据本发明的一些实施例，所述第一轴杆的两端设有承台，两所述第一连接座均滑动套装在所述第一轴杆上，两所述承台和对应所述第一连接座之间均设有所述第一支撑弹簧。
根据本发明的一些实施例，两所述第一连接座中的一个和所述第一轴杆固定连接，另一个滑动套装在所述第一轴杆上，所述第一轴杆上对应滑动套装的所述第一连接座的一端设有承台，所述承台和滑动设置的所述第一连接座之间设有所述第一支撑弹簧。
根据本发明的一些实施例，所述清洁头包括底座和安装座，所述底座包括底板和所述底板的两端设有向上延伸的固定安装板，所述安装座为圆滚筒状，所述安装座的圆弧面上覆盖有清洁巾，所述清洁巾通过固定件安装固定在所述安装座上。
根据本发明的一些实施例，所述安装座为半圆滚筒状，所述安装座的圆弧面朝外，所述安装座的底部平面上设有连接耳，所述固定件包括两固定板，两所述固定板分别设置在所述安装座的圆弧面两侧，所述固定板的一侧边压在所述清洁巾上，所述固定板通过与所述连接耳连接固定，所述安装座和所述底座之间设有限位机构以限制所述安装座的转动区间。
根据本发明的一些实施例，所述限位机构包括限位槽和两角度限位块，所述限位槽横设在所述安装座的底部平面上，两所述限位块均与所述底座固定连接，且位于所述限位槽的转动路径上以限制所述安装座的转动区间。
根据本发明的一些实施例，两所述固定安装板的上均设有导向轮，所述导向轮的上端与所述清洁巾上端的高度差小于所述清洁巾的压缩极限。
根据本发明的一些实施例，两所述运动支撑单元均包括第二轴杆 和第二支撑弹簧，两所述第二轴杆相对设置在所述安装套筒的侧表面，且沿所述安装套筒的轴向设置，两所述第二轴杆的背离端通过第二连接座与所述安装套筒固定连接，两所述第二轴杆的相对端分别滑动连接有升降台滑块，所述第二支撑弹簧套装在所述第二轴杆上，且位于所述升降台滑块和所述第二连接座之间，两所述升降台滑块均滑动连接在所述运动导轨上，所述第二行走连杆的底端与所述升降台滑块铰连接。
根据本发明的一些实施例，所述筒体上设有用于监控管道内部清洁情况的监控系统，所述监控系统与所述动力系统电连接。
根据本发明的第二方面实施例的管道清洁方法，包括以下步骤：
步骤S1:将第一方面实施例用于管道内壁检测清洁的装置从管道大头的一侧装入管道内部；
步骤S2:控制器启动所述动力系统，开始从管道的大端到小端对管道内壁循环反复清洁；
步骤S3:通过监控系统监控管道内壁的清洁情况以及清洁头的状态，判断是否需要更换清洁头，若需要更换清洁头将设备在管道大端处停机，更新清洁头，更换后，再次启机作业，循环直至清洁效果符合要求；
步骤S4:清洁结束，将设备从管道中取出，人工在管道两端位置进行收尾补充，以消除两端部可能清洁不到位的地方。
根据本发明实施例的管道清洁方法，至少具有如下有益效果：本发明利用用于管道内壁检测清洁的装置对管道进行清洁，可以自动适应管道管径的变化，提高了对管道的清洁效率和清洁质量，降低了劳动强度。
本发明的附加方面和优点将在下面的描述中部分给出，部分将从 下面的描述中变得明显，或通过本发明的实践了解到。
附图说明
本发明的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1为本发明实施例用于管道内壁检测清洁的装置的整体结构示意图；
图2是用于管道内壁检测清洁的装置在清洁管道的结构示意图。
图3是行走系统的结构示意图；
图4是清洁系统的结构示意图；
图5是图4中局部放大示意图；
图6是图5中清洁头转动到一定角度的结构示意图。
附图标记：
筒体100、套管300；
清洁头110、底座111、安装座112、底板1111、固定安装板1112、清洁巾1121、连接耳122、第一轴杆120、连接座121、第一升降台130、第一清洁连杆131、第二清洁连杆132、第三清洁连杆133、第四清洁连杆134、固定件140、限位槽151、角度限位块152、导向轮160、第一支撑弹簧170、电机180、承台190；
安装套筒210、连接轴孔211、支撑单元220、第二轴杆221、第二支撑弹簧222、第二连接座223、升降台滑块224、行走连杆机构230、第一行走连杆231、第二行走连杆232、驱动轮机构240、连接轴241、驱动轮242、第三行走连杆250、滑轨260。
具体实施方式
下面详细描述本发明的实施例，实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类 似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。
在本发明的描述中，需要理解的是，涉及到方位描述，例如上、下、前、后、左、右等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
在本发明的描述中，若干的含义是一个或者多个，多个的含义是两个以上，大于、小于、超过等理解为不包括本数，以上、以下、以内等理解为包括本数。如果有描述到第一、第二只是用于区分技术特征为目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量或者隐含指明所指示的技术特征的先后关系。
本发明的描述中，除非另有明确的限定，设置、安装、连接等词语应做广义理解，所属技术领域技术人员可以结合技术方案的具体内容合理确定上述词语在本发明中的具体含义。
另外，本发明各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本发明要求的保护范围之内。
下面参考图1到图4描述根据本发明实施例的用于管道内壁检测清洁的装置。
如图1到图4所示，根据本发明实施例的用于管道内壁检测清洁的装置，包括：
筒体100，筒体100内设有动力系统；
清洁系统，筒体100的两端均设有清洁系统，清洁系统包括多个 用于清洁管道内壁的清洁头110、第一轴杆120和多个第一升降台130；
第一轴杆120沿筒体100的轴向设置，并与动力系统传动连接，以驱动第一轴杆120转动，第一轴杆120上间隔套装有两第一连接座121，第一轴杆120上套装有推动两第一连接座121相对运动的第一支撑弹簧170；
第一升降台130绕第一轴杆120均匀布置，每一第一升降台130包括两清洁连杆机构，两清洁连杆机构均包括第一清洁连杆131和第二清洁连杆132，第一清洁连杆131和第二清洁连杆132的相对端铰连接，两第一清洁连杆131的顶端均和清洁头110连接，两第二清洁连杆132的底端分别和一第一连接座121铰连接，两第二清洁连杆132之间设有第三清洁连杆133，第三清洁连杆133的两端分别和两第二清洁连杆132转动连接；
行走系统，包括安装套筒210、运动支撑机构和第二升降台；
安装套筒210安装在筒体100内，安装套筒100的每一侧表面均设有运动导轨，运动导轨沿安装套筒210的轴向设置；
运动支撑机构包括两相对设置的运动支撑单元220，两运动支撑单元220可相对运动的连接在运动导轨上；
第二升降台包括两行走连杆机构230，两行走连杆机构230均包括第一行走连杆231和第二行走连杆232，第一行走连杆231和第二行走连杆232的相对端铰连接，两第一行走连杆231的顶端均和驱动轮机构240连接，两第二行走连杆232的底端分别和一运动支撑单元220铰连接，两第二行走连杆232之间设有第三行走连杆250，第三行走连杆250的两端分别和两第二行走连杆232转动连接。
本申请用于管道内壁检测清洁的装置在对连续变径的套管300进行清洁的时候，行走系统可以随着管径的变化进行收缩或者伸展，从 而适应电缆套管管径变化的情况，进而完成在管内自适应行走，清洁系统随着行走系统前进，通过第一支撑弹簧170提供的张紧力，使得清洁头110始终和套管300的内壁保持贴合，从而完成对内径变化的套管300的内壁清洁工作。
具体的，本申请的行走系统在自由状态的时候，两运动支撑单元220相对靠近，驱动轮机构240处于最高点。通过工装夹具将行走系统放入套管内，驱动轮机构240平稳的贴近套管300的内壁。
当行走系统沿套管300管径不断变小的方向行走的时候。驱动轮机构240与安装套筒210之间的间距越来越小，驱动轮机构240来自套管内壁的压力越来越大，迫使第一行走连杆231和第二行走连杆232由伸直状态朝弯折状态变化。在变化过程中，两根第一行走连杆231的顶端之间的距离是相对固定的，变化过程中第一行走连杆231绕着与驱动轮机构240的连接位置转动，使得两根第一行走连杆231的下端之间的距离不断增大，并带动两根第二行走连杆232的顶端之间的距离不断增大。两根第二行走连杆232的顶端之间的距离不断增大过程中，两根第二行走连杆232绕着第三行走连杆250转动，使得两根第二行走连杆232底端之间的距离不断增大，使得两运动支撑单元220不断的背离运动。
在行走过程中，随着管径不断的减小，第一升降台130的高度需要随着进行降低调整，此时使两第一连接座121背向运动，压迫第一支撑弹簧170收缩。随着两第一连接座121逐渐的远离，使得两根第二清洁连杆132底端之间的距离不断增大，两根第二清洁连杆132绕着第三清洁连杆133转动，两根第二清洁连杆132顶端的距离变大，第一清洁连杆131的下端的距离跟着增大，并绕着和清洁头110的连接位置转动，最终使得第一清洁连杆131和第二清洁连杆132由伸直 的状态向弯折的状态转变，第一升降台130的整体逐渐高度降低。
当行走系统沿套管管径不断增大的方向行走的时候。驱动轮机构240与安装套筒210之间的间距越来越大，驱动轮机构240来自套管内壁的压力越来越小。两运动支撑单元220相向运动，带动两根第二行走连杆232底端不断靠近，间距不断减小。两根第二行走连杆232绕着第三行走连杆250转动，使得两根第二行走连杆232的顶端之间的距离不断靠近。带动第一行走连杆231的下端之间的距离不断减小。第一行走连杆231和第二行走连杆232由弯折状态朝伸直状态变化，整体长度增加，使得驱动轮机构240一直与套管内壁贴近。
此时随着套管内径的增大，清洁头110来自管壁的压力减少，第一支撑弹簧170受到的力减小，开始出现伸张，推动两第一连接座121相向运动。随着两第一连接座121逐渐的靠近，使得两根第二清洁连杆132底端之间的距离不断减小，两根第二清洁连杆132绕着第三连杆330转动，两根第二清洁连杆132顶端的距离减小，第一清洁连杆131的下端的距离跟着减小，并绕着和清洁头110的连接位置转动，最终使得第一清洁连杆131和第二清洁连杆132由弯折的状态向伸直的状态转变，第一升降台130的整体高度逐渐增加。
在本发明的一些实施例中，第一轴杆120的两端设有承台190，两第一连接座121均滑动套装在第一轴杆120上，两承台190和对应第一连接座121之间均设有第一支撑弹簧170。
在本实施例中，两第一连接座121均滑动套装在第一轴杆120，在清洁过程中，两个第一连接座121都可以在对应支第一支撑弹簧170的作用下相对运动。
在本发明的一些实施例中，两第一连接座121中的一个和第一轴杆120固定连接，另一个滑动套装在第一轴杆120上，第一轴杆120 上对应滑动套装的第一连接座121的一端设有承台190，承台190和滑动设置的第一连接座121之间设有第一支撑弹簧170。
在本实施例中，一个第一连接座121与第一轴杆120固定连接，无法移动，另一个则滑动套装在第一轴杆120，并在第一支撑弹簧170的作用下可以在第一轴杆120上运动。
在本发明的一些实施例中，清洁头110包括底座111和安装座112，底座111包括底板1111和底板1111的两端设有向上延伸的固定安装板1112，安装座1111为圆滚筒状，安装座1111的圆弧面上覆盖有清洁巾1121，清洁巾1121通过固定件140安装固定在安装座112上。
在对套管内壁进行清洁的时候，清洁系统随着相关的设备沿着管道方向运动，并随着动力系统180旋转前进对管壁进行清洁，清洁头110始终与管壁保持贴合状态。在清洁过程中，圆滚筒状的安装座112会不断的转动，覆盖在圆滚筒状的清洁巾1121对管壁进行不断的擦拭。因为安装座112不断的转动，清洁巾1121的整个表面都得到了应用，提高了清洁巾1121的清洁效率。清洁巾1121在使用一段时间以后则可以从安装座112上取下来，重新更换新的清洁巾1121，保证清洁质量。
如图5和图6所示，在本发明的一些实施例中，安装座112为半圆滚筒状，安装座112的圆弧面朝外，安装座112的底部平面上设有连接耳1122，固定件140包括两固定板，两固定板140分别设置在安装座112的圆弧面两侧，固定板140的一侧边压在清洁巾1121上，固定板140通过与连接耳1122连接固定，安装座112和底座111之间设有限位机构以限制安装座112的转动区间。
在本实施例中，安装座112为半圆滚筒状，从而便于将清洁巾1121 固定在安装座1120上。具体的，清洁巾1121固定在安装座112上的时候，先将清洁巾1121铺设在安装座112上，两侧再通过两固定板压紧，再将两固定板与连接耳1122连接固定，从而将清洁巾1121紧紧的压装在安装座112上面。更换的时候则将固定板与连接耳1122松开，拆换新的清洁巾1121。
同时为了避免清洁过程中，安装座112转动到非清洁面与管壁接触，通过设置了限位机构，限制了安装座112的转动区间，确保安装座112的清洁面与套管内壁接触。
又因为有限位机构了安装座112的存在，安装座112转动到一定的角度后就无法继续转动了，因此设置在安装座112上的清洁巾1121，只有与管壁接触的一侧利用到了，而未与管壁接触的清洁巾1121一侧则未被利用到。
在套管完成一次清洁工序后，清洁系统随着行走系统在套管内反向行走，对套管进行二次清洁，这样提高清洁效果，同时电机反转，安装座112转动，转动到一定角度后，在限位机构的作用下停止继续转动，这样未被使用的一侧的清洁巾1121则被重新利用起来了，这样提高了清洁巾1121的使用效率。
在本发明中，限位机构将安装座112的转动范围限制在-37°-37°之间。这样设计与目前常用的电缆套管的管径适应，转动到一侧使用范围正好是0°-37°的范围，另一侧则是-37°-0°。这样清洁巾1121的整个清洁面得到充分的使用。
在本发明的进一步实施例中，限位机构包括限位槽151和两角度限位块152，限位槽151横设在安装座112的底部平面上，两限位块152均与底座111固定连接，且位于限位槽151的转动路径上以限制安装座112的转动区间。
如图5和图6，当安装座112转动到一定的角度后，限位槽151转动到与一侧的角度限位块152顶触的时候，安装座112无法继续再转动。当安装座112朝另一侧转动的时候，限位槽151转动到与另一侧的角度限位块152顶触的时候，安装座112无法继续再转动。通过设置限位槽151和两角度限位块152，将安装座112的转动范围限制在两角度限位块152之间，从而使得安装座112上的清洁巾1121一直保持与管壁相贴。
在本发明的一些实施例中，两固定安装板1112的上均设有导向轮160，导向轮160的上端与清洁巾1121上端的高度差小于清洁巾1121的压缩极限。
在清洁头110进行套管清洁的时候，清洁巾1121会与套管进行贴合，但是如果贴合的力过大的话，会造成清洁巾1121会与套管内壁之间的摩擦力过大，清洗效果不佳，同时清洁巾1121会产生严重的磨损。通过两固定安装板1112的外侧均设置导向轮160，清洁巾1121产生一定的变形后，导向轮160会与套管内壁接触，阻止了清洁巾1121继续受压变形，从而使得清洁巾1121受到合适的挤压力，清洁巾1121会与套管之间的贴合力比较合适。
同时，在擦拭过程中，导向轮160与套管内壁之间也为滚动摩擦，摩擦力小，不会清洁过程造成不良影响。
导向轮160的上端与清洁巾1121上端的高度差，取决于清洁巾1121可以受压变形的压缩极限，注意这里所说的压缩极限不是指清洁巾1121本身能承受的压缩极限，是指能够被允许的压缩标准极限限，这个高度差根据实际情况确定，从而确定导向轮160的安装位置。
在本发明的一些实施例中，两第一清洁连杆131之间设有第四清洁连杆134，第四清洁连杆134的两端分别和两第一清洁连杆131转 动连接。通过设置第四清洁连杆134，提高两第一清洁连杆131之间的结构强度，同时提高二者的关联度，能够同步保持变形。
在本发明的一些实施例中，底座1111包括两根平行设置的安装杆，两安装杆平行设置，安装杆的两端分别与两固定安装板1112连接，两第一清洁连杆131的上端分别与一安装杆铰接。
在本发明的一些实施例中，动力系统为电机，电机和第一轴杆120之间通过联轴器相连。
在本发明的一些实施例中，两运动支撑单元均包括第二轴杆221和第二支撑弹簧222，两第二轴杆221相对设置在安装套筒210的侧表面，且沿安装套筒210的轴向设置，两第二轴杆221的背离端通过第二连接座223与安装套筒210固定连接，两第二轴杆221的相对端分别滑动连接有升降台滑块224，第二支撑弹簧222套装在第二轴杆221上，且位于升降台滑块224和第二连接座223之间，两升降台滑块224均滑动连接在运动导轨上，第二行走连杆232的底端与升降台滑块224铰连接。
在本实施例中，通过第二支撑弹簧222的设置，通过第二支撑弹簧222的收缩或伸展，使得第二支撑弹簧222的施加给升降台滑块224和套管内壁施加给驱动轮机构240的压力二者保持动态平衡，使得驱动轮机构240一直与套管的内壁紧贴，实现自动调整。
具体的，当行走系统沿套管管径不断变小的方向行走的时候。驱动轮机构240与安装套筒210之间的间距越来越小，驱动轮机构240来自套管内壁的压力越来越大，迫使第一行走连杆231和第二行走连杆232由伸直状态朝弯折状态变化，使得两根第二行走连杆232底端之间的距离不断增大，推动两升降台滑块224不断远离，最终压迫第二支撑弹簧222收缩。
而在行走系统沿套管管径不断增大的方向行走的时候，第二支撑弹簧222伸展，推动两升降台滑块224不断靠近，最终使得第一行走连杆231和第二行走连杆232由弯折状态朝伸直状态变化。
在本发明的一些实施例中，驱动轮机构240为双驱动轮一体机，包括连接轴241和设置在连接轴241两端的驱动轮242，运动导轨包括两并行设置的滑轨260，两滑轨260上分别滑动连接有一升降台滑块224，两第一行走连杆231的顶端分别和连接轴241的两端连接。
驱动轮机构240为双驱动轮一体机，在行走过程中，自身携带的电机驱动驱动轮242在管内行走。采用双驱动轮一体机具有两个驱动轮242，在行走过程中，与套管的内壁贴合的更稳定，两驱动轮242之间通过连接轴241连在一起，第一行走连杆231的顶端和连接轴241连在一起，第一行走连杆231可以绕着与连接轴241的连接位置转动。
在本发明的一些实施例中，安装套筒210为方形柱状结构。安装套筒210的四个侧面均设置驱动轮机构240，从而保证在套管形成过程中，不发生过大的横向移动。在套管行走过程中更加稳定的前进。
在本发明的一些实施例中，安装套筒210的中心沿轴向方向设有连接轴孔211。如图1所示，本申请的行走系统安装应用套管的清洁机构上的时候，安装在筒体100内，第一轴杆120则穿过连接轴孔211内设置。
在本发明的一些实施例中，筒体100上设有用于监控管道内部清洁情况的监控系统，监控系统与动力系统电连接。
监控系统主要包括内窥镜270和数据传输系统，内窥镜270可以监控管内的清洁情况，并将内窥镜情况通过无线传输输送给工作人员，使得工作人员了解清洁情况，根据实际情况制定清洁计划。
根据本发明的管道清洁方法，其特征在于，包括以下步骤：
步骤S1:将第一方面实施例的用于管道内壁检测清洁的装置从管道大头的一侧装入管道内部；
步骤S2:控制器启动动力系统，开始从管道的大端到小端对管道内壁循环反复清洁；
步骤S3:通过监控系统监控管道内壁的清洁情况以及清洁头的状态，判断是否需要更换清洁头，若需要更换清洁头将设备在管道大端处停机，更新清洁头，更换后，再次启机作业，循环直至清洁效果符合要求；
步骤S4:清洁结束，将设备从管道中取出，人工在管道两端位置进行收尾补充，以消除两端部可能清洁不到位的地方。
本发明利用用于管道内壁检测清洁的装置对管道进行清洁，可以自动适应管道管径的变化，提高了对管道的清洁效率和清洁质量，降低了劳动强度。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
尽管已经示出和描述了本发明的实施例，本领域的普通技术人员可以理解：在不脱离本发明的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由权利要求及其等同物限定。

Claims (10)

  1. 一种用于管道内壁检测清洁的装置，其特征在于，包括：
    筒体，所述筒体内设有动力系统；
    清洁系统，所述筒体的两端均设有清洁系统，所述清洁系统包括多个用于清洁管道内壁的清洁头、第一轴杆和多个第一升降台；
    所述第一轴杆沿所述筒体的轴向设置，并与所述动力系统传动连接，以驱动所述第一轴杆转动，所述第一轴杆上间隔套装有两第一连接座，所述第一轴杆上套装有推动两所述第一连接座相对运动的第一支撑弹簧；
    所述第一升降台绕所述第一轴杆均匀布置，每一所述第一升降台包括两清洁连杆机构，两所述清洁连杆机构均包括第一清洁连杆和第二清洁连杆，所述第一清洁连杆和第二清洁连杆的相对端铰连接，两所述第一清洁连杆的顶端均和所述清洁头连接，两所述第二清洁连杆的底端分别和一所述第一连接座铰连接，两所述第二清洁连杆之间设有第三清洁连杆，所述第三清洁连杆的两端分别和两所述第二清洁连杆转动连接；
    行走系统，包括安装套筒、运动支撑机构和第二升降台；
    所述安装套筒安装在所述筒体内，所述安装套筒的每一侧表面均设有运动导轨，所述运动导轨沿所述安装套筒的轴向设置；
    所述运动支撑机构包括两相对设置的运动支撑单元，两所述运动支撑单元可相对运动的连接在所述运动导轨上；
    所述第二升降台包括两行走连杆机构，两所述行走连杆机构均包括第一行走连杆和第二行走连杆，所述第一行走连杆和第二行走连杆的相对端铰连接，两所述第一行走连杆的顶端均和驱动轮机构连接，两所述第二行走连杆的底端分别和一所述运动支撑单元铰连接，两所述第二行走连杆之间设有第三行走连杆，所述第三行走连杆的两端分别和两所述第二行走连杆转动连接。
  2. 根据权利要求1所述的用于管道内壁检测清洁的装置，其特征在 于：所述第一轴杆的两端设有承台，两所述第一连接座均滑动套装在所述第一轴杆上，两所述承台和对应所述第一连接座之间均设有所述第一支撑弹簧。
  3. 根据权利要求1所述的用于管道内壁检测清洁的装置，其特征在于：两所述第一连接座中的一个和所述第一轴杆固定连接，另一个滑动套装在所述第一轴杆上，所述第一轴杆上对应滑动套装的所述第一连接座的一端设有承台，所述承台和滑动设置的所述第一连接座之间设有所述第一支撑弹簧。
  4. 根据权利要求1至3任一项所述的用于管道内壁检测清洁的装置，其特征在于：所述清洁头包括底座和安装座，所述底座包括底板和所述底板的两端设有向上延伸的固定安装板，所述安装座为圆滚筒状，所述安装座的圆弧面上覆盖有清洁巾，所述清洁巾通过固定件安装固定在所述安装座上。
  5. 根据权利要求4所述的用于管道内壁检测清洁的装置，其特征在于：所述安装座为半圆滚筒状，所述安装座的圆弧面朝外，所述安装座的底部平面上设有连接耳，所述固定件包括两固定板，两所述固定板分别设置在所述安装座的圆弧面两侧，所述固定板的一侧边压在所述清洁巾上，所述固定板通过与所述连接耳连接固定，所述安装座和所述底座之间设有限位机构以限制所述安装座的转动区间。
  6. 根据权利要求5所述的用于管道内壁检测清洁的装置，其特征在于：所述限位机构包括限位槽和两角度限位块，所述限位槽横设在所述安装座的底部平面上，两所述限位块均与所述底座固定连接，且位于所述限位槽的转动路径上以限制所述安装座的转动区间。
  7. 根据权利要求4所述的用于管道内壁检测清洁的装置，其特征在于：两所述固定安装板的上均设有导向轮，所述导向轮的上端与所述清洁巾上端的高度差小于所述清洁巾的压缩极限。
  8. 根据权利要求1所述的用于管道内壁检测清洁的装置，其特征在于：两所述运动支撑单元均包括第二轴杆和第二支撑弹簧，两所述第二轴杆相对设置在所述安装套筒的侧表面，且沿所述安装套筒的轴向设置，两所述第二轴杆的背离端通过第二连接座与所述安装套筒固定连接，两所述第二轴杆的相对端分别滑动连接有升降台滑块，所述第二支撑弹簧套装在所述第二轴杆上，且位于所述升降台滑块和所述第二连接座之间，两所述升降台滑块均滑动连接在所述运动导轨上，所述第二行走连杆的底端与所述升降台滑块铰连接。
  9. 根据权利要求1所述的用于管道内壁检测清洁的装置，其特征在于：所述筒体上设有用于监控管道内部清洁情况的监控系统，所述监控系统与所述动力系统电连接。
  10. 一种管道清洁方法，其特征在于，包括以下步骤：
    步骤S1:将权利要求1至9任一项所述的用于管道内壁检测清洁的装置从管道大头的一侧装入管道内部；
    步骤S2:控制器启动所述动力系统，开始从管道的大端到小端对管道内壁循环反复清洁；
    步骤S3:通过监控系统监控管道内壁的清洁情况以及清洁头的状态，判断是否需要更换清洁头，若需要更换清洁头将设备在管道大端处停机，更新清洁头，更换后，再次启机作业，循环直至清洁效果符合要求；
    步骤S4:清洁结束，将设备从管道中取出，人工在管道两端位置进行收尾补充，以消除两端部可能清洁不到位的地方。
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