WO2022099985A1 - 一种绝缘空心套管内壁的清洁和检测设备及套管清洁方法 - Google Patents

一种绝缘空心套管内壁的清洁和检测设备及套管清洁方法 Download PDF

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Publication number
WO2022099985A1
WO2022099985A1 PCT/CN2021/085530 CN2021085530W WO2022099985A1 WO 2022099985 A1 WO2022099985 A1 WO 2022099985A1 CN 2021085530 W CN2021085530 W CN 2021085530W WO 2022099985 A1 WO2022099985 A1 WO 2022099985A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
rod
casing
wall
seat
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Application number
PCT/CN2021/085530
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English (en)
French (fr)
Inventor
郭长春
周漾
魏朝磊
李旦
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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 WO2022099985A1 publication Critical patent/WO2022099985A1/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 cleaning and detection device for the inner wall of an insulating hollow casing and a casing cleaning method.
  • 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 cleaning and detection device for the inner wall of an insulating hollow sleeve, which can clean the sleeve of reduced diameter.
  • the invention also discloses a method for cleaning the casing by using the above-mentioned cleaning and testing equipment for the inner wall of the insulating hollow casing.
  • an apparatus for cleaning and testing the inner wall of an insulating hollow casing includes a traveling system and a cleaning system.
  • the traveling system includes a power device, a driving wheel traveling device, a diameter-reducing adjustment device, and a driven wheel.
  • a walking mechanism, the cleaning system includes a second shaft and multiple sets of mechanical arms;
  • One end of the power device is provided with a mounting seat, and the other end is provided with a first shaft;
  • the driving wheel traveling device includes multiple groups of driving wheel traveling mechanisms, and each group of the driving wheel traveling mechanisms includes a driving wheel and a first connecting rod, one end of the first connecting rod is hinged with the mounting seat, and the other end is the driving wheel is connected, and the power device and the driving wheel are drive-connected to drive the driving wheel to walk;
  • the diameter-reducing adjustment device includes multiple groups of diameter-reducing mechanisms, and each group of the diameter-reducing mechanisms includes a second connecting rod, a first adjusting rod and a control system, and the first shaft rod is provided with a first fixing seat and a a first sliding seat, the first fixed seat is fixedly installed on the first shaft rod, the first sliding seat is movably installed on the first shaft rod, one end of the second connecting rod and the The first fixed seat is hinged, one end of the first adjustment rod is hinged with the first sliding seat, and the other end is hinged with the middle of the second link, and the regulating system is connected with the first sliding seat to control the first sliding seat moves along the first shaft;
  • the driven wheel running mechanism includes a third link and a driven wheel, one end of the third link is hinged with the other end of the second link, and the other end of the third link is connected with the first link.
  • the middle part of the rod is hinged, and the driven wheel is arranged on the third link;
  • One end of the second shaft rod is arranged at the end of the mounting seat, and is rotatably connected to the power device, the other end of the second shaft rod is provided with a bearing platform, and the second shaft rod is provided with a bearing platform.
  • a second fixed seat and a second sliding seat are arranged in sequence from the power device to the bearing platform, the second fixed seat and the second shaft are fixedly connected, and the second sliding seat is connected to the first two shaft rods and can move along the second shaft rod, a compression spring is arranged between the second sliding seat and the bearing platform, and the compression spring is sleeved on the second shaft rod;
  • each of the robotic arms includes a cleaning head, a support rod and a second adjustment rod, one end of the support rod is hinged with the cleaning head, and the other is hinged to the cleaning head.
  • One end is hinged with the second fixed seat, one end of the second adjusting rod is hinged with the middle of the support rod, and the other end is hinged with the second sliding seat.
  • the device for cleaning and detecting the inner wall of the insulating hollow casing has at least the following beneficial effects: when cleaning the casing with a continuously variable diameter, the walking system can shrink or expand with the change of the diameter of the pipe, Therefore, it adapts to the change of the diameter of the cable casing, and then completes the adaptive walking in the pipe.
  • the cleaning system moves forward with the walking system, and the tension provided by the compression spring makes the cleaning head always adhere to the inner wall of the casing, so as to Complete the cleaning of the inner wall of the casing with changing inner diameter.
  • the regulation system includes a stepper motor and a pressure sensor
  • the first shaft is a ball screw
  • the first sliding seat is a screw nut disposed on the ball screw
  • the ball screw and the stepper motor are connected in a transmission
  • the pressure sensor is arranged on the first adjustment rod to monitor the pressure on the first adjustment rod
  • the pressure sensor and the stepper Into the motor electrical control connection.
  • the regulation system includes an adjustment spring and a baffle
  • the baffle is fixed on the first shaft
  • the first sliding seat is located between the baffle and the first
  • the adjustment spring is arranged between the baffle plate and the first sliding seat, and the adjustment spring is sleeved on the first shaft.
  • the driven wheel is connected to the third link through a fine-tuning mechanism
  • the fine-tuning mechanism includes a spring mounting seat, a guide rod and a fine-tuning spring
  • the spring mounting seat is mounted on the third link
  • the guide rod is vertically arranged on the spring mounting seat
  • the base of the driven wheel is provided with a guide hole
  • the driven wheel is movably connected with the guide rod through the guide hole
  • the fine adjustment spring It is arranged between the driven wheel and the spring mounting seat, one end of the fine adjustment spring is connected with the base of the driven wheel, and the other end is connected with the spring mounting seat.
  • the cleaning head includes a base, a mounting pedestal and a quick latch
  • the base includes a bottom plate and two ends of the bottom plate are provided with upwardly extending fixed mounting plates
  • the fixed mounting plates are provided with
  • the pin holes penetrate through the plate surface, the two fixed installation plates and the bottom plate form an installation groove, the upper surface of the installation base is covered with a wiping piece, and is installed and fixed by a fixing piece, and the installation base is installed on the In the installation groove, the two ends of the installation base are provided with connection holes corresponding to the pin holes, and the quick latches pass through the pin holes and then are fixedly inserted into the connection holes, so as to connect the installation base installed with the base.
  • the cross section of the wiper is arched
  • the fixing member includes two fixing plates
  • the fixing plates are provided with mounting holes
  • the connecting nuts pass through the mounting holes to connect the two fixing plates It is clamped on both sides of the wiper.
  • the wiper is a soft liner.
  • bearings are provided on the outer sides of the two fixed mounting plates, and the height difference between the upper end of the bearing and the upper end of the wiper is smaller than the compression limit of the wiper.
  • a monitoring system for monitoring the cleaning condition inside the casing is further included, the monitoring system being electrically connected to the power unit.
  • an auxiliary support rod is further included, the auxiliary support rod and the support rod are arranged in parallel, one end of the auxiliary support rod is hinged with the bottom plate through the connecting ear, and the other end is hingedly connected There is an auxiliary fixing seat, and the auxiliary fixing seat is fixedly connected to the second shaft rod.
  • Step S1 the cleaning and detection equipment of the inner wall of the insulating hollow casing of the first aspect embodiment is loaded into the casing from the side of the large end of the casing;
  • Step S2 the controller starts the power unit, and starts from the large end of the casing.
  • the inner wall of the casing is repeatedly cleaned from the end to the small end;
  • Step S3 the cleaning situation of the inner wall of the casing and the state of the cleaning head are monitored by the monitoring system, and it is judged whether the cleaning head needs to be replaced. After the replacement, start the machine again, and cycle until the cleaning effect meets the requirements;
  • Step S4 After cleaning, take the equipment out of the casing, and manually perform finishing and supplementation at both ends of the casing to eliminate the two The ends may not be cleaned properly.
  • the sleeve cleaning method according to the embodiment of the present invention has at least the following beneficial effects: the invention uses the cleaning and detection equipment for the inner wall of the insulating hollow sleeve to clean the sleeve, which can automatically adapt to changes in the diameter of the sleeve, and improves the accuracy of the sleeve.
  • the cleaning efficiency and cleaning quality of the tube reduce labor intensity.
  • FIG. 1 is a schematic diagram of the overall structure of the cleaning and testing equipment for the inner wall of the insulating hollow sleeve according to the embodiment of the present invention
  • Fig. 2 is the structural representation of the walking system
  • FIG. 3 is a schematic structural diagram of an embodiment of a variable diameter adjusting device
  • FIG. 5 is a schematic structural diagram of the cleaning system in a stretched state
  • Fig. 6 is the right side view of Fig. 5;
  • FIG. 7 is a schematic structural diagram of the cleaning system in a contracted state
  • Fig. 8 is the right side view of Fig. 7;
  • Figure 9 is an exploded view of the cleaning head
  • Figure 10 is a top view of the cleaning head
  • FIG. 11 is a cross-sectional view taken along the A-A direction in FIG. 10 .
  • Cleaning head 2100 base 2110, bottom plate 2111, fixed mounting plate 2112, pin hole 21121, connecting ear 2113, connecting ear hole 21131, mounting base 2120, connecting hole 2121, quick bolt 2130, lever 2131, wiper 2140, fixing plate 2150, mounting hole 2151, connecting nut 2160, bearing 2170;
  • 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 cleaning and testing equipment for the inner wall of the insulating hollow casing includes a traveling system and a cleaning system.
  • the traveling system includes a power device 1100 , a driving wheel traveling device, a diameter reducing device and The driven wheel walking mechanism, the cleaning system includes a second shaft and multiple sets of mechanical arms;
  • One end of the power device 1100 is provided with a mounting seat 1110, and the other end is provided with a first shaft 1120;
  • the driving wheel traveling device includes multiple groups of driving wheel traveling mechanisms, each group of driving wheel traveling mechanisms includes a driving wheel 1210 and a first connecting rod 1220, one end of the first connecting rod 1220 is hinged with the mounting seat 1110, and the other end is connected with the driving wheel 1210 , the power device 1100 and the driving wheel 1210 are drive-connected to drive the driving wheel 1210 to walk;
  • the diameter-reducing adjustment device includes multiple groups of diameter-reducing mechanisms, each group of which includes a second connecting rod 1310, a first adjusting rod 1320 and a control system, and the first shaft rod 1120 is provided with a first fixed seat 1121 and a first fixed seat 1121 at intervals.
  • the sliding seat 1122, the first fixing seat 1121 is fixedly installed on the first shaft 1120, the first sliding seat 1122 is movably installed on the first shaft 1120, one end of the second connecting rod 1310 is hinged with the first fixing seat 1121, and the first sliding seat 1122 is movably installed on the first shaft 1120.
  • One end of an adjusting rod 1320 is hinged with the first sliding seat 1122, and the other end is hinged with the middle of the second connecting rod 1310.
  • the regulating system is connected with the first sliding seat 1122 to control the first sliding seat and the first sliding seat 1122 along the first axis rod 1120 movement;
  • the driven wheel running mechanism includes a third link 1410 and a driven wheel 1420 , one end of the third link 1410 is hinged with the other end of the second link 1310 , and the other end of the third link 1410 is hinged with the middle of the first link 1220 , the driven wheel 1420 is arranged on the third link 1410;
  • One end of the second shaft rod 2200 is disposed at the end of the mounting seat 1110 and is rotatably connected to the power unit 1100 , and the other end of the second shaft rod 2200 is provided with a bearing platform 2230 , and the second shaft rod 2200 is connected to the power unit 1100 by the power unit 1100 .
  • a second fixed seat 2210 and a second sliding seat 2220 are sequentially arranged in the direction of the bearing platform 2230.
  • the second fixed seat 2210 and the second shaft rod 2200 are fixedly connected, and the second sliding seat 2220 is connected to the second shaft rod 2200 and can be moved along the second shaft rod 2200.
  • the second shaft rod 2200 moves, a compression spring 2800 is arranged between the second sliding seat 2220 and the bearing platform 2230, and the compression spring 2800 is sleeved on the second shaft rod 2200;
  • each robotic arm includes a cleaning head 2100, a supporting rod 2300 and a second adjusting rod 2400, one end of the supporting rod 2300 is hinged with the cleaning head 2100, and the other end is connected with the second adjusting rod 2400.
  • the fixed seat 2210 is hinged, one end of the second adjusting rod 2400 is hinged with the middle of the support rod 2300 , and the other end is hinged with the second sliding seat 2220 .
  • the walking system When cleaning the continuously variable diameter casing, the walking system can shrink or expand with the change of the pipe diameter, so as to adapt to the change of the diameter of the cable casing, and then complete the self-adaptive walking in the pipe.
  • the walking part moves forward, and the cleaning head is always kept in contact with the inner wall of the casing by the tension provided by the compression spring, so as to complete the cleaning of the inner wall of the casing with changing inner diameter.
  • the power device 1100 provides power to drive the driving wheel 1210 to walk in the pipe.
  • the control device detects that the pressure increases, it controls the first sliding seat 1122 to move away from the first fixed seat 1121.
  • the third connecting rod 1320 and the second connecting rod 1310 are driven in turn to drive the third sliding seat 1122.
  • the connecting rod 1410 moves in the direction of the first shaft 1120 , so that the driven wheel 1420 and the driving wheel 1210 contract and move inwardly, and the entire walking system is continuously contracted, so as to adapt to the situation that the pipe diameter is continuously reduced.
  • the power device 1100 drives the second shaft 2200 to rotate (the second shaft 2200 is connected to the motor through the coupling 2700 to drive the second shaft 2200 to rotate), and the cleaning heads 2100 at the end of the support rod 2300 are paired with each other.
  • the entire inner wall of the tube is cleaned and scrubbed.
  • the cleaning head 2100 is pressed to transmit the pressure to the support rod 2300, the support rod 2300 is pressed down by force, and the support rod 2300 rotates around the fixed seat 2210, Gradually move from the vertical state to the horizontal state.
  • the cleaning system When the support rod 2300 is pressed down, the force is transmitted to the compression spring 2800 through the adjustment rod 2400, and the compression spring 2800 is forced to contract.
  • the cleaning system does not need external force, and will automatically adapt to changes in the diameter of the casing, thereby completing the cleaning of the entire inner wall of the casing. In theory, through certain design adjustments, it can adapt to the cleaning work of various pipe diameter changing casings.
  • the regulating device controls the first sliding seat 1122 to move toward the first fixed seat 1121.
  • the third connecting rod is driven by the regulating rod 1320 and the second connecting rod 1310 in turn.
  • the rod 1410 moves away from the first shaft rod 1120 , so that the driven wheel 1420 and the driving wheel 1210 extend outward, and the walking system is continuously stretched, thereby adapting to the situation that the diameter of the pipe is constantly increasing.
  • the compression spring 2800 extends, pushing the second sliding seat 2220 to move toward the second fixing seat 2210, and the support rod 2300 gradually opens.
  • the control system includes a stepping motor and a pressure sensor
  • the first shaft 1120 is a ball screw
  • the first sliding seat 1122 is a screw disposed on the ball screw
  • the nut, the ball screw and the stepping motor are connected in a driving manner
  • the pressure sensor is arranged on the first adjusting rod 1320 for monitoring the pressure on the first adjusting rod 1320
  • the pressure sensor is electrically connected with the stepping motor.
  • the stepper motor rotates forward after receiving the electrical signal, which drives the ball screw to rotate forward, and the screw nut on the ball screw is in the ball screw.
  • the stepper motor rotates forward after receiving the electrical signal, which drives the ball screw to rotate forward, and the screw nut on the ball screw is in the ball screw.
  • the regulation system includes an adjustment spring 1610 and a baffle 1620 , the baffle 1620 is fixed on the first shaft 1120 , and the first sliding seat 1122 is located between the baffle 1620 and the first shaft 1120 . Between a fixed seat 1121 , the adjusting spring 1610 is disposed between the baffle 1620 and the first sliding seat 1122 , and the adjusting spring 1610 is sleeved on the first shaft 1120 .
  • the driven wheel 1420 and the driving wheel 1210 are subjected to increased pressure from the pipe wall, compressing the four-bar linkage mechanism to contract, and the adjusting spring 1610 is subjected to increased pressure.
  • the pressure increases, adaptive contractions occur, and the entire walking system contracts.
  • the driven wheel 1420 is connected to the third link 1410 through a fine-tuning mechanism, and the fine-tuning mechanism includes a spring mounting seat 1710, a guide rod 1720 and a fine-tuning spring 1730.
  • the spring-mounted The seat 1710 is installed on the third link 1410, the guide rod 1720 is vertically arranged on the spring mounting seat 1710, the base of the driven wheel 1420 is provided with a guide hole, the driven wheel 1420 is movably connected with the guide rod 1720 through the guide hole, and the spring is fine-tuned.
  • 1730 is arranged between the driven wheel 1420 and the spring mounting seat 1710 , one end of the fine adjustment spring 1730 is connected with the base of the driven wheel 1420 , and the other end is connected with the spring mounting seat 1710 .
  • the driven wheel 1420 When dealing with casings with different pipe diameters (the taper of the inner diameter of the casing will be different), it may occur that the driven wheel 1420 is in contact with the pipe wall, while the driving wheel 1210 is in a suspended state; or the driving wheel 1210 is in contact with the pipe wall. , while the driven wheel 1420 is still in a suspended state. Or the diameter of the casing is not changed, but the diameter of a section decreases, and the diameter of a section increases, and it is difficult to adjust adaptively.
  • the present application further connects the driven wheel 1420 with the third link 1410 through a fine adjustment mechanism, so that the driven wheel 1420 itself has a certain automatic adjustment capability.
  • the driven wheel 1420 will shrink or extend along the guide rod 1720 under the action of the fine-tuning spring 1730, which changes the inclination angle of the line between the driven wheel 1420 and the driving wheel 1210. Therefore, it can adapt to casings with different pipe diameters, and improve the applicability and versatility of the traveling device.
  • the cleaning head 2100 includes a base 2110 , a mounting base 2120 and a quick latch 2130 , the base 2110 includes a bottom plate 2111 and two ends of the bottom plate 2111 are provided with upwardly extending fixed
  • the mounting plate 2112 the fixed mounting plate 2112 is provided with a pin hole 21121 penetrating the surface of the plate
  • the two fixed mounting plates 2112 and the bottom plate 2111 enclose a mounting groove
  • the upper surface of the mounting base 2120 is covered with a wiper 2140, and is installed by the fixing piece Fixing
  • the installation base 2120 is installed in the installation slot
  • the two ends of the installation base 2120 are provided with connecting holes 2121 corresponding to the pin holes 21121
  • the quick plugs 2130 pass through the pin holes 21121 and are fixedly inserted into the connection holes 2121 to install
  • the pedestal 2120 is mounted with the base 2110 .
  • the surface of the wiper 2140 becomes dirty, and needs to be replaced in order to ensure the cleaning quality.
  • pull out the quick latch 2130 separate the base 2110 from the mounting base 2120, take out the mounting base 2120 from the mounting slot, then put the new mounting base 2120 into the mounting slot, and then insert the quick latch 2130 to complete Replacement of the cleaning head unit.
  • the replacement is convenient and quick, and the cleaning efficiency is improved.
  • the cross section of the wiper 2140 is arched
  • the fixing member includes two fixing plates 2150
  • the fixing plate 2150 is provided with a mounting hole 2151
  • the connecting nut 2160 passes through the mounting hole 2151 to sandwich the two fixing plates 2150 On both sides of wiper 2140.
  • the wiper 2140 is arch-shaped, and the cover is set on the installation base 2120 , and the wiper 2140 is clamped on the installation base 2120 by arranging fixing plates 2150 on both sides. Specifically, when assembling the wiper 2140 with the installation base 2120, first cover the wiper 2140 on the installation base 2120, and then set the two fixing plates 2150 on both sides of the wiper 2140 respectively, and then connect the two The nut 2160 connects the two fixing plates 2150 together, so that the wiper 2140 is clamped on the installation base 2120 , and the reverse operation can be performed when the wiper 2140 and the installation base 2120 are disassembled.
  • the connecting nut 2160 is a wing nut.
  • the connecting nut 2160 adopts a wing nut, which is convenient to be twisted by hand when the wiper 2140 is assembled with the mounting base 2120, and the need for other tools is small, thereby improving the convenience of replacement.
  • the wiper 2140 is a soft liner.
  • the support rod 2300 When cleaning the inner wall of the casing, the support rod 2300 will exert a certain pressure on the wiping member 2140, so that the wiping member 2140 and the inner wall of the casing are closely attached together, and the wiping effect is better.
  • the wiping member 2140 is made of a soft lining, which will deform to a certain extent when subjected to pressure, so as to closely fit with the inner wall of the sleeve, and the wiping effect is better.
  • bearings 2170 are provided on the outer sides of the two fixed mounting plates 2112 , and the height difference between the upper end of the bearing 2170 and the upper end of the wiper 2140 is smaller than the compression limit of the wiper 2140 .
  • the wiper 2140 When the cleaning head device cleans the casing, the wiper 2140 will be attached to the casing, but if the force of the fitting is too large, the frictional force between the wiper 2140 and the inner wall of the casing will be too large, The cleaning effect is not good, and the wiper 2140 is severely worn.
  • Bearings 2170 are provided on the outer sides of the two fixed mounting plates 2112. After the wiper 2140 is deformed to a certain extent, the bearing 2170 will contact the inner wall of the sleeve, preventing the wiper 2140 from continuing to be deformed under pressure, so that the wiper 2140 is properly squeezed. Pressure, the adhesion force between the wiper 2140 and the inner wall of the sleeve is suitable.
  • the height difference between the upper end of the bearing 2170 and the upper end of the wiper 2140 depends on the compression limit of the wiper 2140 that can be deformed under compression.
  • the outer end of the quick latch 2130 is provided with a lever portion 2131 .
  • the lever portion 2131 By arranging the lever portion 2131, it is convenient to screw the quick latch 2130 when it is inserted, which further improves the replacement efficiency.
  • the bottom of the bottom plate 2111 is provided with a connecting ear 2113
  • the connecting ear 2113 is provided with a connecting ear hole 21131
  • the support rod 2300 is hinged to the bottom plate 2111 through the connecting ear 2113 .
  • an auxiliary support rod 2500 is also included.
  • the auxiliary support rod 2500 and the support rod 2300 are arranged in parallel.
  • the seat 2600 and the auxiliary fixing seat 2600 are fixedly connected to the second shaft 2200 .
  • the power device 1100 and the driving wheel 1210 are connected in a driving manner through a chain transmission mechanism.
  • the power of the motor is transmitted to the sprocket through the worm gear, and then driven by the sprocket to drive the driving wheel 1210 to walk.
  • the power device 1100 includes a mounting housing and a power motor and a battery connected to the power motor disposed within the mounting housing.
  • the power motor and battery are installed in the installation casing to improve the safety protection performance of the equipment.
  • the battery provides electrical energy for the entire equipment, ensuring that the entire equipment does not need external power supply when walking in the tube, and improves the independence of the equipment.
  • a monitoring system for monitoring the cleaning condition inside the casing is further included, the monitoring system is electrically connected to the power unit.
  • the monitoring system mainly includes an endoscope and a data transmission system.
  • the endoscope 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 a cleaning plan according to the actual situation.
  • Step S1 the cleaning and detection equipment of the inner wall of the insulating hollow casing of the first aspect embodiment is loaded into the casing from the side of the large end of the casing;
  • Step S2 the controller starts the power unit, starts from the big end of the casing pipe to the small end to the casing inner wall cycle and repeatedly cleans;
  • Step S3 monitor the cleaning situation of the inner wall of the casing 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, the equipment is stopped at the large end of the casing, and the cleaning head is updated. Machine operation, cycle until the cleaning effect meets the requirements;
  • Step S4 After the cleaning is completed, the device is taken out from the casing, and the two ends of the casing are manually supplemented to eliminate the places where the two ends may not be cleaned properly.
  • the present invention uses the cleaning of the inner wall of the insulating hollow casing and the detection equipment to clean the casing, which can automatically adapt to the change of the diameter of the casing, and improves the cleaning efficiency and cleaning of the casing. quality and reduce labor intensity.

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  • Mechanical Engineering (AREA)
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Abstract

一种绝缘空心套管内壁的清洁和检测设备，在对连续变径的套管进行清洁的时候，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，清洁系统随着行走部分前进，通过压缩弹簧（2800）提供的张紧力，使得清洁头（2100）始终和套管的内壁保持贴合，从而完成对内径变化的套管的内壁清洁工作。

Description

一种绝缘空心套管内壁的清洁和检测设备及套管清洁方法 技术领域
本发明涉及管道清洁技术领域，特别是涉及一种绝缘空心套管内壁的清洁和检测设备及套管清洁方法。
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，本发明提出一种绝缘空心套管内壁的清洁和检测设备,能够对变径的套管进行清洁。
本发明还公开了一种利用上述绝缘空心套管内壁的清洁和检测设备对套管清洁方法。
根据本发明的第一方面实施例的一种绝缘空心套管内壁的清洁和检测设备，包括行走系统和清洁系统，所述行走系统包括动力装置、驱动轮行走装置、变径调节装置和从动轮行走机构，所述清洁系统包括第二轴杆和多组机械手臂；
所述动力装置的一端设有安装座，另一端设有第一轴杆；
所述驱动轮行走装置包括多组驱动轮行走机构，每组所述驱动轮 行走机构均包括主动轮和第一连杆，所述第一连杆的一端和所述安装座铰接，另一端和所述主动轮连接，所述动力装置和所述主动轮传动连接以驱动所述主动轮行走；
所述变径调节装置包括多组变径机构，每组所述变径机构均包括第二连杆、第一调节杆和调控系统，所述第一轴杆上间隔设有第一固定座和第一滑动座，所述第一固定座固定安装在所述第一轴杆上，所述第一滑动座活动安装在所述第一轴杆上，所述第二连杆的一端和所述第一固定座铰接，所述第一调节杆的一端和所述第一滑动座铰接，另一端和所述第二连杆的中部铰接，所述调控系统与所述第一滑动座连接以控制所述第一滑动座沿所述第一轴杆运动；
所述从动轮行走机构包括第三连杆和从动轮，所述第三连杆的一端和所述第二连杆的另一端铰接，所述第三连杆的另一端和所述第一连杆的中部铰接，所述从动轮设置在所述第三连杆上；
所述第二轴杆的一端设置在所述安装座的端部，且和所述动力装置可转动连接，所述第二轴杆的另一端设有承台，所述第二轴杆上由所述动力装置到所述承台方向依次设有第二固定座和第二滑动座，所述第二固定座和所述第二轴杆固定连接，所述第二滑动座连接在所述第二轴杆上，且可沿所述第二轴杆运动，所述第二滑动座和所述承台之间设有压缩弹簧，所述压缩弹簧套装在所述第二轴杆上；
多组所述机械手臂环设在所述第二轴杆上，每一所述机械手臂均包括清洁头、支撑杆和第二调节杆，所述支撑杆的一端和所述清洁头铰接，另一端与所述第二固定座铰接，所述第二调节杆的一端和所述支撑杆的中部铰接，另一端和所述第二滑动座铰接。
根据本发明实施例的绝缘空心套管内壁的清洁和检测设备，至少具有如下有益效果：在对连续变径的套管进行清洁的时候，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，通过压缩弹簧提供的张紧力，使得清洁头始终和套管的内壁保持贴合，从而完成对内径变化的套管的内壁清洁工作。
根据本发明的一些实施例，所述调控系统包括步进电机和压力传感器，所述第一轴杆为滚珠丝杆，所述第一滑动座为设置在所述滚珠丝杆上的丝杆螺母，所述滚珠丝杆和所述步进电机传动连接，所述压力传感器设置在所述第一调节杆上用于监测所述第一调节杆所承受的压力，所述压力传感器和所述步进电机电控连接。
根据本发明的一些实施例，所述调控系统包括调节弹簧和挡板，所述挡板固设在所述第一轴杆上，所述第一滑动座位于所述挡板和所述第一固定座之间，所述调节弹簧设置在所述挡板和所述第一滑动座之间，且所述调节弹簧套装在所述第一轴杆上。
根据本发明的一些实施例，所述从动轮通过微调机构与所述第三连杆连接，所述微调机构包括弹簧安装座、导向杆和微调弹簧，所述弹簧安装座安装在所述第三连杆上，所述导向杆竖向设置在所述弹簧安装座上，所述从动轮的底座上设有导向孔，所述从动轮通过导向孔与所述导向杆活动连接，所述微调弹簧设置在所述从动轮与所述弹簧安装座之间，所述微调弹簧的一端与所述从动轮的底座连接，另一端和所述弹簧安装座连接。
根据本发明的一些实施例，所述清洁头包括底座、安装台座和快速插销，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，所述固定安装板上设有贯穿板面的销孔，两所述固定安装板和所述底板围成安装槽，所述安装台座的上表面盖覆有擦拭件，并通过固定件安装固定，所述安装台座安装在所述安装槽内，所述安装台座 的两端设有与所述销孔对应的连接孔，所述快速插销穿过所述销孔后固定插装在所述连接孔内，以将所述安装台座与所述底座安装在一起。
根据本发明的一些实施例，所述擦拭件的截面呈拱形，所述固定件包括两固定板，所述固定板设有安装孔，连接螺母穿过所述安装孔将两所述固定板夹设在所述擦拭件的两侧。
根据本发明的一些实施例，所述擦拭件为软质的衬体。
根据本发明的一些实施例，两所述固定安装板的外侧均设有轴承，所述轴承的上端与所述擦拭件上端的高度差小于所述擦拭件的压缩极限。
根据本发明的一些实施例，还包括用于监控套管内部清洁情况的监控系统，所述监控系统与动力装置电连接。
根据本发明的一些实施例，还包括辅助支撑杆，所述辅助支撑杆和所述支撑杆平行设置，所述辅助支撑杆的一端和通过所述连接耳与所述底板铰接，另一端铰连接有辅助固定座，所述辅助固定座固定连接在所述第二轴杆上。
根据本发明的第二方面实施例的套管清洁方法，包括以下步骤：
步骤S1:将第一方面实施例的绝缘空心套管内壁的清洁和检测设备从套管大头的一侧装入套管内部；步骤S2:控制器启动所述动力装置，开始从套管的大端到小端对套管内壁循环反复清洁；步骤S3:通过监控系统监控套管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套管大端处停机，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，将设备从套管中取出，人工在套管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套管清洁方法，至少具有如下有益效果：本 发明利用绝缘空心套管内壁的清洁和检测设备对套管进行清洁，可以自动适应套管管径的变化，提高了对套管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为本发明实施例绝缘空心套管内壁的清洁和检测设备的整体结构示意图；
图2是行走系统的结构示意图；
图3是一种变径调节装置实施例的结构示意图；
图4是从动轮与微调机构之间的连接结构示意图；
图5是清洁系统处于撑开状态的结构示意图；
图6是图5的右视图；
图7是清洁系统处于收缩状态的结构示意图；
图8是图7的右视图；
图9是清洁头的分解图；
图10是清洁头的俯视图；
图11是图10中沿A-A方向的剖视图。
附图标记：
动力装置1100、安装座1110、第一轴杆1120、第一固定座1121、第一滑动座1122；
主动轮1210、第一连杆1220；
第二连杆1310、调节杆1320；
第三连杆1410、从动轮1420；
调节弹簧1610、挡板1620；
弹簧安装座1710、导向杆1720、微调弹簧1730；
清洁头2100、底座2110、底板2111、固定安装板2112、销孔21121、连接耳2113、连接耳孔21131、安装台座2120、连接孔2121、快速插销2130、借力部2131、擦拭件2140、固定板2150、安装孔2151、连接螺母2160、轴承2170；
第二轴杆2200、第二固定座2210、第二滑动座2220、承台2230；
支撑杆2300、调节杆2400、辅助支撑杆2500、辅助固定座2600、联轴器2700、压缩弹簧2800。
具体实施方式
下面详细描述本发明的实施例，所述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11描述根据本发明实施例的绝缘空心套管内壁的清洁和检测设备。
如图1到图8所示，根据本发明实施例的绝缘空心套管内壁的清洁和检测设备，包括行走系统和清洁系统，行走系统包括动力装置1100、驱动轮行走装置、变径调节装置和从动轮行走机构，清洁系统包括第二轴杆和多组机械手臂；
动力装置1100的一端设有安装座1110，另一端设有第一轴杆1120；
驱动轮行走装置包括多组驱动轮行走机构，每组驱动轮行走机构均包括主动轮1210和第一连杆1220，第一连杆1220的一端和安装座1110铰接，另一端和主动轮1210连接，动力装置1100和主动轮1210传动连接以驱动主动轮1210行走；
变径调节装置包括多组变径机构，每组变径机构均包括第二连杆1310、第一调节杆1320和调控系统，第一轴杆1120上间隔设有第一固定座1121和第一滑动座1122，第一固定座1121固定安装在第一轴杆1120上，第一滑动座1122活动安装在第一轴杆1120上，第二连杆1310的一端和第一固定座1121铰接，第一调节杆1320的一端和第一滑动座1122铰接，另一端和第二连杆1310的中部铰接，调控系统与第一滑动座1122连接以控制第一滑动座第一滑动座1122沿第一轴杆 1120运动；
从动轮行走机构包括第三连杆1410和从动轮1420，第三连杆1410的一端和第二连杆1310的另一端铰接，第三连杆1410的另一端和第一连杆1220的中部铰接，从动轮1420设置在第三连杆1410上；
第二轴杆2200的一端设置在安装座1110的端部，且和动力装置1100可转动连接，第二轴杆2200的另一端设有承台2230，第二轴杆2200上由动力装置1100到承台2230方向依次设有第二固定座2210和第二滑动座2220，第二固定座2210和第二轴杆2200固定连接，第二滑动座2220连接在第二轴杆2200上，且可沿第二轴杆2200运动，第二滑动座2220和承台2230之间设有压缩弹簧2800，压缩弹簧2800套装在第二轴杆2200上；
多组机械手臂环设在第二轴杆2200上，每一机械手臂均包括清洁头2100、支撑杆2300和第二调节杆2400，支撑杆2300的一端和清洁头2100铰接，另一端与第二固定座2210铰接，第二调节杆2400的一端和支撑杆2300的中部铰接，另一端和第二滑动座2220铰接。
在对连续变径的套管进行清洁的时候，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，清洁系统随着行走部分前进，通过压缩弹簧提供的张紧力，使得清洁头始终和套管的内壁保持贴合，从而完成对内径变化的套管的内壁清洁工作。
具体的，当整个设备沿套管管径不断变小的方向进行清洁的时候，由动力装置1100提供动力，驱动主动轮1210在管内行走。在行走过程中，随着管径不断的减小，主动轮1210和从动轮1420与管壁间的压力越来越大。当调控装置监测到压力增大后，控制第一滑动座1122朝远离第一固定座1121方向运动，随着第一滑动座1122的运动，依 次经过调节杆1320、第二连杆1310带动第三连杆1410向第一轴杆1120方向运动，从而使得从动轮1420和主动轮1210向内收缩运动，整个行走系统不断的收缩，从而适应管径不断减小的情况。
在清洁过程中，动力装置1100驱动第二轴杆2200旋转(第二轴杆2200通过联轴器2700和电机连接，带动第二轴杆2200转动)，支撑杆2300端部的清洁头2100对套管的整个内壁清洁擦洗。在清洁系统在套管内前进进行清洁的时候，随着管径不断变小，清洁头2100受压将压力传递给支撑杆2300，支撑杆2300受力下压，支撑杆2300绕固定座2210转动，逐渐的由竖直状态朝水平状态方向运动。在支撑杆2300下压的过程中，将力通过调节杆2400传递给压缩弹簧2800，压缩弹簧2800受力收缩。整个过程中清洁系统无须借助外力，会自动适应套管管径的变化，从而完成对整个套管内壁的清洁。理论上通过一定的设计调整，可以适应各种管径变化套管的清洁工作。
而在设备沿套管管径不断变大的方向进行清洁的时候。在行走过程中，随着管径不断的变大，主动轮1210和从动轮1420与管壁间的压力减小。调控装置监测到压力减小后，控制第一滑动座1122朝靠近第一固定座1121方向运动，随着第一滑动座1122的运动，依次经过调节杆1320、第二连杆1310带动第三连杆1410远离第一轴杆1120方向运动，从而使得从动轮1420和主动轮1210向外伸展运动，行走系统不断的伸展，从而适应管径不断增大的情况。
当由清洁系统沿套管的管径不断变大方向进行清洁的时候，压缩弹簧2800伸长，推动第二滑动座2220朝第二固定座2210方向运动，支撑杆2300逐渐张开。
如图2所示，在本发明的一些实施例中，调控系统包括步进电机和压力传感器，第一轴杆1120为滚珠丝杆，第一滑动座1122为设置 在滚珠丝杆上的丝杆螺母，滚珠丝杆和步进电机传动连接，压力传感器设置在第一调节杆1320上用于监测第一调节杆1320所承受的压力，压力传感器和步进电机电控连接。
随着行走系统在管内行走的时候，从动轮1420和主动轮1210受到来自管壁的压力不断变化。设置在第一调节杆1320上的压力传感器在监测到压力不断变大以后，步进电机收到电信号后正转，带动滚珠丝杆正转，滚珠丝杆上的丝杆螺母在滚珠丝杆上做直线运动，进而通过四连杆机构控制收缩或伸展。始终确保从动轮1420和主动轮1210与管壁间的压力保持在一个比较稳定范围，从而适应管径的变化。
如图3所示，在本发明的一些实施例中，调控系统包括调节弹簧1610和挡板1620，挡板1620固设在第一轴杆1120上，第一滑动座1122位于挡板1620和第一固定座1121之间，调节弹簧1610设置在挡板1620和第一滑动座1122之间，且调节弹簧1610套装在第一轴杆1120上。
在本实施例中，当行走系统沿套管管径不断变小的方向行走的时候，从动轮1420和主动轮1210受到来自管壁的压力增大，压迫四连杆机构收缩，调节弹簧1610受到压力增大，会进行适应性收缩，整个行走系统收缩。
而在行走系统沿套管管径不断变大的方向行走的时候。从动轮1420和主动轮1210受到来自管壁的压力减小，调节弹簧1610受到压力减小，会逐渐伸展，推动四连杆机构伸展，使得整个行走系统向外伸展。通过设置调节弹簧1610，使得从动轮1420和主动轮1210受到来自管壁的压力和调节弹簧1610之间的弹力保持平衡，从而自动适应管径的变化，此种实施例相对采用步进电机+滚珠丝杆的结构更加简单。
如图2和图4所示，在本发明的一些实施例中，从动轮1420通过微调机构与第三连杆1410连接，微调机构包括弹簧安装座1710、导向杆1720和微调弹簧1730，弹簧安装座1710安装在第三连杆1410上，导向杆1720竖向设置在弹簧安装座1710上，从动轮1420的底座上设有导向孔，从动轮1420通过导向孔与导向杆1720活动连接，微调弹簧1730设置在从动轮1420与弹簧安装座1710之间，微调弹簧1730的一端与从动轮1420的底座连接，另一端和弹簧安装座1710连接。
行走系统在管内行走过程中，需要保证从动轮1420和主动轮1210与管壁之间一直保持接触。而本申请采用的四根连杆机构，当其中一根连杆位置变动以后，其他连杆的位置会跟着联动。因此从动轮1420和主动轮1210会在同一连线上同步收缩或伸展，因此从动轮1420和主动轮1210之间连线的倾斜角度是固定的。只能和对应管径变化的套管使用。当对不同管径变化的套管(套管内径的锥度会不同)时，就可能会出现从动轮1420和管壁接触了，而主动轮1210处于悬空状态；或者主动轮1210与管壁接触了，而从动轮1420还处于悬空状态。亦或套管管径不是变化，而是一段区间的管径减少，而一段区间的管径增大，也难以进行适应性调整。
为了解决上述情况，本申请进一步的使从动轮1420通过微调机构与第三连杆1410连接，使得从动轮1420自身具有一定的自动调节能力。当清洁不同管径的套管时候，从动轮1420会在微调弹簧1730的作用下，顺着导向杆1720进行收缩或伸展运动，改变了从动轮1420和主动轮1210之间连线的倾斜角度，从而可以适应不同管径变化的套管，提高行走装置的适用性和通用性。
如图9到图11所示，在本发明的一些实施例中，清洁头2100包 括底座2110、安装台座2120和快速插销2130，底座2110包括底板2111和底板2111的两端设有向上延伸的固定安装板2112，固定安装板2112上设有贯穿板面的销孔21121，两固定安装板2112和底板2111围成安装槽，安装台座2120的上表面盖覆有擦拭件2140，并通过固定件安装固定，安装台座2120安装在安装槽内，安装台座2120的两端设有与销孔21121对应的连接孔2121，快速插销2130穿过销孔21121后固定插装在连接孔2121内，以将安装台座2120与底座2110安装在一起。
清洁头2100在对套管的内壁清洁一端时间后，擦拭件2140的表面变脏，为了保证清洁质量需要对其进行更换。更换的时候，将快速插销2130拔出，底座2110和安装台座2120分离，将安装台座2120从安装槽中取出，随后将新的安装台座2120装入安装槽中，再将快速插销2130插入即完成了清洁头装置的更换。更换方便快捷，提高了清洁效率。
在本发明的一些实施例中，擦拭件2140的截面呈拱形，固定件包括两固定板2150，固定板2150设有安装孔2151，连接螺母2160穿过安装孔2151将两固定板2150夹设在擦拭件2140的两侧。
擦拭件2140呈拱形，罩设在安装台座2120上，并通过在两侧设置固定板2150将擦拭件2140夹紧在安装台座2120上。具体的，在将擦拭件2140与安装台座2120进行装配的时候，先将擦拭件2140罩设在安装台座2120上，随后将两块固定板2150分别设置在擦拭件2140的两侧，之后通过连接螺母2160将两固定板2150连在一起，从而将擦拭件2140夹紧在安装台座2120上，在擦拭件2140与安装台座2120进行拆解的时候反向操作即可。
在本发明的进一步实施例中，连接螺母2160为蝶形螺母。连接螺 母2160采用蝶形螺母便于在擦拭件2140与安装台座2120进行装配的时候通过手拧动，对其他工具的需求小，从而提高更换的便捷性。
在本发明的一些实施例中，擦拭件2140为软质的衬体。在进行套管内壁的清洁的时候，支撑杆2300会给擦拭件2140施加一定的压力，使得擦拭件2140与套管的内壁紧密贴合在一起，这样的擦拭效果更好。擦拭件2140选用软质的衬体，在受到压力的时候会产生一定的变形，从而与套管的内壁紧密贴合，擦拭效果更好。
在本发明的进一步实施例中，两固定安装板2112的外侧均设有轴承2170，轴承2170的上端与擦拭件2140上端的高度差小于擦拭件2140的压缩极限。
在清洁头装置进行套管清洁的时候，擦拭件2140会与套管进行贴合，但是如果贴合的力过大的话，会造成擦拭件2140会与套管内壁之间的摩擦力过大，清洗效果不佳，同时擦拭件2140会产生严重的磨损。通过两固定安装板2112的外侧均设置轴承2170，擦拭件2140产生一定的变形后，轴承2170会与套管内壁接触，阻止了擦拭件2140继续受压变形，从而使得擦拭件2140受到合适的挤压力，擦拭件2140会与套管内壁之间的贴合力比较合适。
同时，在擦拭过程中，轴承2170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。
轴承2170的上端与擦拭件2140上端的高度差，取决于擦拭件2140可以受压变形的压缩极限，这个高度差根据实际情况确定，从而确定轴承2170的安装位置。
在本发明的一些实施例中，快速插销2130的外端设有借力部2131。通过设置借力部2131，便于在插装快速插销2130对其进行拧动，进一步的提高更换的效率。
在本发明的一些实施例中，底板2111的底部设有连接耳2113，连接耳2113上设有连接耳孔21131，支撑杆2300通过连接耳2113与底板2111铰接。
在本发明的一些实施例中，还包括辅助支撑杆2500，辅助支撑杆2500和支撑杆2300平行设置，辅助支撑杆2500的一端和通过连接耳2113与底板2111铰接，另一端铰连接有辅助固定座2600，辅助固定座2600固定连接在第二轴杆2200上。通过设置辅助支撑杆2500，提高对清洗头2100的支撑强度，机械手臂的结构强度。
在本发明的一些实施例中，动力装置1100和主动轮1210之间通过链条传动机构传动连接。通过蜗轮蜗杆将电机的动力传递给链轮，再通过链轮传动，带动主动轮1210行走。
在本发明的一些实施例中，动力装置1100包括安装外壳和设置安装外壳内的动力电机和与动力电机连接的电池。动力电机和电池都安装在安装外壳内，提高设备的安全防护性能，电池为整个设备提供电能，确保整个设备在管内行走的时候不用外部提供电源，提高设备的独立性。
在本发明的一些实施例中，还包括用于监控套管内部清洁情况的监控系统，所述监控系统与动力装置电连接。监控系统主要包括内窥镜和数据传输系统，内窥镜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。
根据本发明的第二方面实施例的套管清洁方法，包括以下步骤：
步骤S1:将第一方面实施例的绝缘空心套管内壁的清洁和检测设备从套管大头的一侧装入套管内部；
步骤S2:控制器启动动力装置，开始从套管的大端到小端对套管 内壁循环反复清洁；
步骤S3:通过监控系统监控套管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套管大端处停机，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，将设备从套管中取出，人工在套管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套管清洁方法，本发明利用绝缘空心套管内壁的清洁和检测设备对套管进行清洁，可以自动适应套管管径的变化，提高了对套管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. 一种绝缘空心套管内壁的清洁和检测设备，其特征在于，包括行走系统和清洁系统，所述行走系统包括动力装置、驱动轮行走装置、变径调节装置和从动轮行走机构，所述清洁系统包括第二轴杆和多组机械手臂；
    所述动力装置的一端设有安装座，另一端设有第一轴杆；
    所述驱动轮行走装置包括多组驱动轮行走机构，每组所述驱动轮行走机构均包括主动轮和第一连杆，所述第一连杆的一端和所述安装座铰接，另一端和所述主动轮连接，所述动力装置和所述主动轮传动连接以驱动所述主动轮行走；
    所述变径调节装置包括多组变径机构，每组所述变径机构均包括第二连杆、第一调节杆和调控系统，所述第一轴杆上间隔设有第一固定座和第一滑动座，所述第一固定座固定安装在所述第一轴杆上，所述第一滑动座活动安装在所述第一轴杆上，所述第二连杆的一端和所述第一固定座铰接，所述第一调节杆的一端和所述第一滑动座铰接，另一端和所述第二连杆的中部铰接，所述调控系统与所述第一滑动座连接以控制所述第一滑动座沿所述第一轴杆运动；
    所述从动轮行走机构包括第三连杆和从动轮，所述第三连杆的一端和所述第二连杆的另一端铰接，所述第三连杆的另一端和所述第一连杆的中部铰接，所述从动轮设置在所述第三连杆上；
    所述第二轴杆的一端设置在所述安装座的端部，且和所述动力装置可转动连接，所述第二轴杆的另一端设有承台，所述第二轴杆上由所述动力装置到所述承台方向依次设有第二固定座和第二滑动座，所述第二固定座和所述第二轴杆固定连接，所述第二滑动座连接在所述第二轴杆上，且可沿所述第二轴杆运动，所述第二滑动座和所述承台之间设有压缩弹簧，所述压缩弹簧套装在所述第二轴杆上；
    多组所述机械手臂环设在所述第二轴杆上，每一所述机械手臂均包 括清洁头、支撑杆和第二调节杆，所述支撑杆的一端和所述清洁头铰接，另一端与所述第二固定座铰接，所述第二调节杆的一端和所述支撑杆的中部铰接，另一端和所述第二滑动座铰接。
  2. 根据权利要求1所述的绝缘空心套管内壁的清洁和检测设备，其特征在于：所述调控系统包括步进电机和压力传感器，所述第一轴杆为滚珠丝杆，所述第一滑动座为设置在所述滚珠丝杆上的丝杆螺母，所述滚珠丝杆和所述步进电机传动连接，所述压力传感器设置在所述第一调节杆上用于监测所述第一调节杆所承受的压力，所述压力传感器和所述步进电机电控连接。
  3. 根据权利要求1所述的绝缘空心套管内壁的清洁和检测设备，其特征在于：所述调控系统包括调节弹簧和挡板，所述挡板固设在所述第一轴杆上，所述第一滑动座位于所述挡板和所述第一固定座之间，所述调节弹簧设置在所述挡板和所述第一滑动座之间，且所述调节弹簧套装在所述第一轴杆上。
  4. 根据权利要求1至3任一项所述的绝缘空心套管内壁的清洁和检测设备，其特征在于：所述从动轮通过微调机构与所述第三连杆连接，所述微调机构包括弹簧安装座、导向杆和微调弹簧，所述弹簧安装座安装在所述第三连杆上，所述导向杆竖向设置在所述弹簧安装座上，所述从动轮的底座上设有导向孔，所述从动轮通过导向孔与所述导向杆活动连接，所述微调弹簧设置在所述从动轮与所述弹簧安装座之间，所述微调弹簧的一端与所述从动轮的底座连接，另一端和所述弹簧安装座连接。
  5. 根据权利要求1所述的绝缘空心套管内壁的清洁和检测设备，其特征在于：所述清洁头包括底座、安装台座和快速插销，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，所述固定安装板上设有贯穿板面的销孔，两所述固定安装板和所述底板围成安装槽，所述 安装台座的上表面盖覆有擦拭件，并通过固定件安装固定，所述安装台座安装在所述安装槽内，所述安装台座的两端设有与所述销孔对应的连接孔，所述快速插销穿过所述销孔后固定插装在所述连接孔内，以将所述安装台座与所述底座安装在一起。
  6. 根据权利要求5所述的绝缘空心套管内壁的清洁和检测设备，其特征在于：所述擦拭件的截面呈拱形，所述固定件包括两固定板，所述固定板设有安装孔，连接螺母穿过所述安装孔将两所述固定板夹设在所述擦拭件的两侧。
  7. 根据权利要求5所述的绝缘空心套管内壁的清洁和检测设备，其特征在于：所述擦拭件为软质的衬体。
  8. 根据权利要求7所述的绝缘空心套管内壁的清洁和检测设备，其特征在于：两所述固定安装板的外侧均设有轴承，所述轴承的上端与所述擦拭件上端的高度差小于所述擦拭件的压缩极限。
  9. 根据权利要求1所述的绝缘空心套管内壁的清洁和检测设备，其特征在于：还包括用于监控套管内部清洁情况的监控系统，所述监控系统与动力装置电连接。
  10. 一种套管的清洁方法，其特征在于，包括以下步骤：
    步骤S1:将权利要求1至9任一项所述的绝缘空心套管内壁的清洁和检测设备从套管大头的一侧装入套管内部；
    步骤S2:控制器启动所述动力装置，开始从套管的大端到小端对套管内壁循环反复清洁；
    步骤S3:通过监控系统监控套管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套管大端处停机，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，将设备从套管中取出，人工在套管两端位置进 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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