Automatic pipeline cleaning device and pipeline cleaning method

Abstract

The present invention relates to an automatic pipeline cleaning device and a cleaning method thereof. At present, the dredging of drainage and sewage pipelines is all done manually, which is not only time-consuming and labor-intensive, but also has potential safety hazards. The automatic pipeline cleaning device of the present invention comprises a pipe wall cleaning mechanism, a pipe wall supporting mechanism and a sliding pipe fixing mechanism. The pipe wall supporting mechanism comprises a movable sleeve and a pipe wall telescopic support rod arranged at both ends of the movable sleeve; the sliding pipe fixing mechanism comprises a sleeve seat slidably sleeved with the movable sleeve, and a wall support rod is arranged at the front end of the sleeve seat; the pipe wall cleaning mechanism comprises a rotating shaft sleeved in the movable sleeve, and a cutter head telescopic support rod with a rotating cutter head is hinged at the front end of the rotating shaft, and the wall support rod and the pipe wall telescopic support rod are radially telescopically fixed to the inner wall of the pipeline, and the movable sliding pipe moves axially along the sleeve seat to drive the rotating cutter head to rotate radially along the inner wall of the pipeline while moving axially. The cleaning device of the present invention automatically moves in the pipeline for cleaning, and there is no need for manual entry into the pipeline or excavation of the pipeline, which is safe and efficient.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline cleaning construction equipment, and in particular relates to an automatic pipeline cleaning device and a cleaning method thereof. Background Art

[0002] At present, the dredging of drainage and sewage pipes relies on manual cleaning with high-pressure water. Pipes with large diameters can be cleaned by workers entering the pipes to break and chisel them. Pipes with small diameters can only be cleaned with high-pressure water. If the cleaning is not thorough again, excavation and lifting of the pipes must be carried out for cleaning. However, the excavation process can easily damage the pipes, and severely damaged pipes must be replaced, which is not only costly but also requires the drainage to be cut off when the pipes are cleaned. When cleaning pipes that can be entered manually, ventilation must be carried out in advance. The construction inside the pipes is a small space with complex air composition. Various chemical gases can easily cause harm to the construction workers. Some chemical gases may even explode during construction operations. There are huge safety hazards and various uncertain risk factors, which directly affect the progress of the cleaning construction. Summary of the invention

[0003] In view of the above problems, the purpose of the present invention is to provide an automatic pipeline cleaning device and a cleaning method thereof. The cleaning device of the present invention can realize automatic axial movement in the pipeline. During the movement, the cutter head of the cleaning device rotates radially to effectively clean the dirt and debris attached to the inner wall of the pipeline. There is no need for workers to enter the pipeline or excavate the pipeline for cleaning, which is safe and efficient.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] A pipeline automatic cleaning device comprises a pipe wall cleaning mechanism, a pipe wall supporting mechanism and a sliding pipe fixing mechanism which are sequentially sleeved inside and outside, the pipe wall supporting mechanism comprises a movable sliding pipe, a plurality of pipe wall telescopic support rods are arranged in a circular array at both ends of the movable sliding pipe, the telescopic ends of the pipe wall telescopic support rods can be supported on the inner wall of the pipeline so that the movable sliding pipe is positioned at the center of the pipeline; the sliding pipe fixing mechanism comprises a sleeve seat, the sleeve seat is sleeved on the outer periphery of the movable sliding pipe and is axially slidably connected to the movable sliding pipe, a plurality of wall support rods are arranged in an array on the outer periphery at the front end of the sleeve seat, a plurality of retaining ring telescopic push rods are arranged in an array on the outer periphery at the rear end of the sleeve seat, and the telescopic end of the retaining ring telescopic push rod is connected to a sliding push plate sleeved on the outer periphery of the sleeve seat ; The pipe wall cleaning mechanism includes a rotating shaft sleeved in a movable sliding tube, the front end of the rotating shaft extends out of the end of the movable sliding tube, and a plurality of cutter head telescopic struts are hinged in a circular array at the front end of the rotating shaft, and a rotating cutter head is provided at the end of the cutter head telescopic strut, and the rotating cutter head extends toward the inner wall of the pipe and contacts the inner wall of the pipe; the telescopic push rod of the retaining ring drives the sliding push plate to move to radially expand the wall support rod and fix it on the inner wall of the pipe, and the movable sliding tube moves axially along the sleeve seat to make the rotating cutter head move axially along the inner wall of the pipe, and the rotational movement of the rotating shaft drives the rotating cutter head to rotate radially along the inner wall of the pipe to clean the inner wall of the pipe.

[0006] Furthermore, the rear end of the movable slide tube has a cavity, the rear end of the rotating shaft extends out of the bottom surface of the cavity, and the rear end of the rotating shaft extending out of the bottom surface of the cavity is provided with a gear ring; a rotary reducer is provided on the rear end tube wall of the movable slide tube, the output end of the rotary reducer is meshed with the gear ring, and the rotary reducer drives the gear ring to rotate so that the rotating shaft rotates; a sliding connection device is provided between the movable slide tube and the sleeve seat.

[0007] Furthermore, a push rod shaft is sleeved inside the rotating shaft, the front end of the push rod shaft extends out of the front end of the rotating shaft and is hinged to the end of the cutter head telescopic support rod, the rear end of the push rod shaft extends out of the rear end of the rotating shaft and is rotatably connected to a cutter head push-pull rod, and the cutter head push-pull rod is axially arranged at the rear end of the movable sliding tube.

[0008] Furthermore, a head fixing plate is provided at the front end of the rotating shaft, and one end of the cutter head telescopic strut is hinged on the head fixing plate; a tail fixing plate is provided at the rear end of the cavity of the movable sliding tube, and the fixed end of the cutter head push-pull rod is arranged on the tail fixing plate, and the rear end of the push rod shaft is rotationally connected with the telescopic end of the cutter head push-pull rod through a bearing, and the fixed end of the tube wall telescopic strut located at the rear end of the movable sliding tube is arranged in the radial direction of the tail fixing plate, and the telescopic end of the tube wall telescopic strut extends along the radial outer periphery of the tail fixing plate.

[0009] Furthermore, the fixed end of the retaining ring telescopic push rod is fixed to the rear end periphery of the sleeve seat, the front end periphery of the sleeve seat is sleeved with a fixed retaining ring, the sliding push plate is sleeved on one side of the sleeve seat close to the fixed retaining ring, the telescopic end of the retaining ring telescopic push rod pushes the sliding push plate to move forward and backward along the axis of the sleeve seat, one end of the support wall rod is hinged on the periphery of the fixed retaining ring, and the other end of the support wall rod extends toward the periphery of the sliding push plate.

[0010] Furthermore, a flat plate is hingedly connected to the extended end of the wall supporting rod, and the wall supporting rod is extended so that the flat plate is axially fitted with the inner wall of the pipe.

[0011] Furthermore, the head fixing plate includes a plate body and a plurality of brackets connected to the edge of the plate body, one end of the bracket extends axially out of the plate body, the cutter head telescopic support rod includes a fixed rod and a telescopic rod sleeved in the fixed rod, the outer end of the fixed rod is hinged to the end of the push rod shaft, the middle part of the fixed rod is hinged to the end of the bracket extending out of the plate body, and the outer end of the telescopic rod is provided with the rotating cutter head.

[0012] Furthermore, the rotary cutter head includes a cutter head motor and a plurality of blades, the cutter head motor is connected to the telescopic rod, the annular array of blades is arranged on the output shaft of the cutter head motor, and the blades are spread outward along the radial periphery of the output shaft in a trumpet shape.

[0013] The present invention provides a pipeline cleaning method using the above-mentioned automatic pipeline cleaning device, comprising the following steps:

[0014] Step 1), placing the automatic pipeline cleaning device in the pipeline to be cleaned;

[0015] Step 2), adjusting the tube wall telescopic support rod to extend and contact the inner wall of the pipeline, and the tube wall telescopic support rod supports and limits the movable sliding pipe in the pipeline;

[0016] Step 3), start the retractable push rod of the retaining ring to extend and push the sliding push plate forward so that the support rod supports the inner wall of the pipe and fixes the sleeve seat at the center of the pipe;

[0017] Step 4), adjusting the cutter head telescopic strut to expand radially until the rotating cutter head contacts the inner wall of the pipe and stops; and at the same time, starting the rotating cutter head to start rotating;

[0018] Step 5), starting the rotation shaft to rotate, the rotation of the rotation shaft drives the cutter head telescopic strut to rotate radially, and the rotating cutter head starts to clean the radial inner wall of the pipe;

[0019] Step 6), adjusting the tube wall telescopic support rod to shrink and separate from the inner wall of the tube;

[0020] Step 7), adjusting the movable slide pipe to move forward axially from the starting position along the sleeve seat to make the cutter head telescopic support rod move forward axially along the inner wall of the pipe, and the rotating cutter head rotates radially and axially at the same time to clean the inner wall of the pipe in sequence;

[0021] Step 8), the movable sliding pipe stops moving when it moves to the node position at the rear end of the sleeve seat;

[0022] Step 9), the tube wall telescopic support rod is again adjusted to extend and contact and fix with the inner wall of the tube,

[0023] Step 10), start the retractable push rod of the retaining ring to contract and drive the sliding push plate to move backward; adjust the sleeve seat to move forward along the movable sliding pipe to the initial position, and complete the cleaning of a section of the inner wall of the pipeline.

[0024] Furthermore, in the step 4), the radial expansion of the telescopic strut of the cutter head is achieved by controlling the telescopic end of the cutter head push-pull rod to extend and retract, thereby driving the push rod shaft to push and pull the end of the telescopic strut of the cutter head;

[0025] In the step 5), the rotational movement of the rotating shaft drives the ring gear to rotate by controlling the rotation of the rotating reducer;

[0026] In the steps 7) and 10), the relative movement between the sleeve seat and the movable slide tube is achieved by controlling the sliding connection device.

[0027] The present invention adopts the above technical solution, which has the following advantages and effects:

[0028] (1) The automatic pipeline cleaning device of the present invention is easy to operate. When cleaning the pipeline, one only needs to put the cleaning device into the pipeline from the inspection well and turn on the electric control switch. The cleaning device will perform orderly cleaning operations according to the pre-selected program, thereby realizing fully automatic self-service cleaning without the need for manpower. This not only saves the cleaning construction cost, but also makes the cleaning construction safe and efficient, and is suitable for large-scale promotion and use.

[0029] (2) The automatic pipeline cleaning device of the present invention is fixed in the radial direction of the inner wall of the pipeline by a sliding tube fixing mechanism. The pipeline wall supporting mechanism drives the pipeline wall cleaning mechanism to move axially along the sliding tube fixing mechanism to realize the axial movement of the cutter head of the pipeline wall cleaning mechanism to clean the inner wall of the pipeline. At the same time, the cutter head of the pipeline wall cleaning mechanism rotates axially so that the cutter head rotates radially along the inner wall of the pipeline to clean. The cleaning work of a section of the inner wall of the pipeline is realized by the simultaneous radial and axial movement.

[0030] (3) The automatic pipeline cleaning device of the present invention can realize programmed control by programming the controller to control each motion mechanism. After the cleaning work of the inner wall of a section of the pipeline is completed, the sliding pipe fixing mechanism of the automatic pipeline cleaning device shrinks and moves to the initial position of the automatic pipeline cleaning device, and the reciprocating cycle is repeated to realize continuous cleaning of the pipeline section by section. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic structural diagram of the pipeline cleaning device of the present invention.

[0032] Figure 2 for Figure 1 Left view of .

[0033] Figure 3 for Figure 1 Right view of .

[0034] Among them, 1- sleeve seat, 2- movable sliding tube, 3- sliding push plate, 4- retaining ring telescopic push rod, 5- wall support rod, 6- downward plate, 7- fixed retaining ring, 8- rotating shaft, 9- head fixed plate, 10- push rod shaft, 11- rotating cutter head, 12- cutter head telescopic support rod, 13- locking nut, 14- linear reducer, 15- rotating reducer, 16- rack, 17- gear ring, 18- tail fixed plate, 19- cutter head push-pull rod, 20- tube wall telescopic support rod, 21- controller. DETAILED DESCRIPTION

[0035] The embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings so that the purpose, features and advantages of the present invention can be more clearly understood. It should be understood that the embodiments shown in the accompanying drawings are not intended to limit the scope of the present invention, but are only intended to illustrate the essential spirit of the technical solution of the present invention.

[0036] The present invention provides an automatic pipeline cleaning device, including a pipe wall support mechanism, a pipe wall cleaning mechanism and a sliding pipe fixing mechanism, wherein the pipe wall cleaning mechanism is sleeved inside the pipe wall support mechanism, the sliding pipe fixing mechanism is sleeved outside the pipe wall support mechanism, the sliding pipe fixing mechanism is axially connected to the pipe wall support mechanism, the cutter head of the pipe wall cleaning mechanism rotates radially along the inner wall of the pipe, when the sliding pipe fixing mechanism is fixed on the inner wall of the pipe, the pipe wall support mechanism drives the pipe wall cleaning mechanism to move axially along the sliding pipe fixing mechanism to realize the axial movement of the cutter head along the inner wall of the pipe to clean a section of the inner wall of the pipe, and then the pipe wall support mechanism is telescopically supported on the inner wall of the pipe, and the sliding pipe fixing mechanism shrinks and moves to the front end of the pipe wall support mechanism, and the inner wall of the pipe is cleaned section by section in a reciprocating cycle. The cleaning device of the present invention realizes automatic mobile cleaning by programming the controller to control the automatic movement of each mechanism, does not require manual construction, is safe and efficient, and is suitable for large-scale promotion and use.

[0037] like Figure 1 , Figure 2 , Figure 3 As shown. The automatic pipeline cleaning device provided by the present invention comprises a pipe wall cleaning mechanism, a pipe wall supporting mechanism and a sliding pipe fixing mechanism which are sequentially sleeved inside and outside, the pipe wall supporting mechanism comprises a movable sliding pipe, a plurality of pipe wall telescopic support rods 20 are arranged in a radial circumferential array at both ends of the movable sliding pipe, the telescopic ends of the pipe wall telescopic support rods 20 can be supported on the inner wall of the pipeline so that the movable sliding pipe 2 is positioned at the center of the pipeline; the sliding pipe fixing mechanism comprises a sleeve seat 1, the sleeve seat 1 is sleeved on the outer periphery of the movable sliding pipe 2 and is axially slidably connected to the movable sliding pipe, a plurality of wall supporting rods 5 are arranged in an array on the outer periphery of the front end of the sleeve seat 1, a plurality of retaining ring telescopic push rods 4 are arranged in an array on the outer periphery of the rear end of the sleeve seat 1, and the telescopic ends of the retaining ring telescopic push rods 4 are connected to a sliding push plate sleeved on the outer periphery of the sleeve seat 1 3; the pipe wall cleaning mechanism includes a rotating shaft 8 sleeved in the movable slide tube, the front end of the rotating shaft 8 extends out of the end of the movable slide tube 2, and the front end of the rotating shaft is hinged with a plurality of cutter head telescopic struts 12 in a circumferential array, and the end of the cutter head telescopic strut 12 is provided with a rotating cutter head 11, and the rotating cutter head 11 extends toward the inner wall of the pipe and contacts the inner wall of the pipe; the telescopic push rod 4 of the retaining ring drives the sliding push plate 3 to move to radially expand the wall support rod 5 and fix it on the inner wall of the pipe, the movable slide tube 2 moves axially along the sleeve seat 1 to make the rotating cutter head 11 move axially along the inner wall of the pipe, and the rotating movement of the rotating shaft 8 drives the rotating cutter head 11 to rotate radially along the inner wall of the pipe to clean the inner wall of the pipe.

[0038] Specifically, the pipe wall telescopic support rod 20 adopts a hydraulic cylinder or an electric telescopic rod. The fixed ends of the pipe wall telescopic support rod 20 are evenly spaced and arranged at intervals on the radial outer periphery of the two ends of the movable slide pipe, each pipe wall telescopic support rod 20 is perpendicular to the axial direction of the movable slide pipe, and the telescopic end of the pipe wall telescopic support rod 20 extends along the radial outer periphery of the movable slide pipe, and the telescopic end of the pipe wall telescopic support rod 20 telescopes toward the outer periphery to achieve contact support and separation with the inner wall of the pipe.

[0039] The plurality of cutter head telescopic struts 12 are arranged in an array at equal intervals around the front end of the rotating shaft. The ends of each cutter head telescopic strut 12 are hinged to the outer periphery of the rotating shaft and can extend in an umbrella-like structure perpendicular to the rotating shaft so that the rotating cutter head contacts the inner wall of the pipe. The movable slide tube 2 is a cylindrical structure. The front and rear ends of the movable slide tube are each provided with four tube wall telescopic struts 20. The fixed ends of the four tube wall telescopic struts 20 at the front and rear ends of the movable slide tube are evenly spaced and annularly distributed and fixed on the outer edges of the front and rear end surfaces of the movable slide tube. The telescopic ends of all the tube wall telescopic struts 20 are synchronously moved during telescopic adjustment to ensure that the telescopic length toward the outer periphery of the movable slide tube is consistent.

[0040] As a preferred embodiment, the fixed ends of the tube wall telescopic support rods 20 can also be fixed to the outer peripheral surfaces of the front and rear ends of the movable slide tube. This arrangement can also achieve fixing the movable slide tube at the center position of the pipeline.

[0041] The rotating shaft 8 is a columnar body with a through hole in the center thereof. The front and rear end peripheries of the rotating shaft 8 are sleeved with bearings. The front and rear end bearings are connected to the front and rear ends of the movable slide tube to realize the rotating movement of the rotating shaft 8 in the movable slide tube 2. The periphery of the rotating shaft 8 and the fixed end of the tube wall telescopic strut 20 have a certain distance therebetween, so that the rotating shaft 8 is not blocked by the tube wall telescopic strut 20 when rotating.

[0042] The sleeve seat 1 is an annular cylinder, and there is a certain gap between the movable sliding tube and the sleeve seat 1. The sliding push plate 3 is sleeved on the outside of the sleeve seat 1. The front end periphery of the sleeve seat 1 is hinged to the support wall rod 5, and the support wall rod 5 is arranged in an array with equal intervals around the circumference. The extended end of the support wall rod 5 is evenly expanded toward the outer tail of the sleeve seat 1 to form an umbrella-like structure to surround the outer periphery of the sliding push plate 3.

[0043] All the retaining ring telescopic push rods 4 also use hydraulic cylinders or electric telescopic rods. The telescopic ends of the retaining ring telescopic push rods 4 are all synchronously moved during axial telescopic adjustment to ensure that the sliding push plate 3 moves parallel to the outer periphery of the sleeve seat 1. When the telescopic end of the retaining ring telescopic push rod 4 is extended, the sliding push plate 3 moves toward the front end of the sleeve seat 1 to push the wall support rod 5 to expand outward like an umbrella, so that the outer end of the wall support rod 5 set on the outer periphery of the sleeve seat 1 can be supported and fixed on the inner wall circumference of the pipeline to temporarily fix the cleaning device in the center of the pipeline.

[0044] The number of the retaining ring telescopic push rods 4 is 4, and the 4 retaining ring telescopic push rods 4 are arranged in an axially uniform array at the rear end of the sleeve seat 1. The fixed end of the retaining ring telescopic push rod 4 is fixedly connected to the outer peripheral surface of the rear end of the sleeve seat 1, and the telescopic ends of the 4 retaining ring telescopic push rods 4 are all connected to the sliding push plate 3. The number of the wall supporting rods 5 is also 4, and one end of the 4 wall supporting rods 5 is hinged to the outer periphery of the front end of the sleeve seat 1.

[0045] Furthermore, the rear end of the movable slide tube 2 has a cavity, the rear end of the rotating shaft 8 extends out of the bottom surface of the cavity, and the rear end of the rotating shaft 8 extending out of the bottom surface of the cavity is axially provided with a gear ring 17, and the rear end tube wall of the movable slide tube 2 is provided with a rotary reducer 15, the output end of the rotary reducer 15 is meshed with the gear ring 17, and the rotary reducer 15 drives the gear ring 17 to rotate so that the rotating shaft 8 rotates.

[0046] Specifically, in order to realize the automatic rotation movement of the rotating shaft 8, the cavity opened in the rear end of the moving slide tube 2 is a columnar structure cavity, the bottom surface of the cavity has a certain spacing space from the rear end surface of the moving slide tube 2, the rear end of the rotating shaft 8 extends out of the bottom surface of the cavity, and the ring gear 17 is arranged in the spacing space in the cavity and is arranged parallel to the bottom surface of the cavity. One end of the ring gear 17 is connected to the rear end surface of the rotating shaft 8 or is sleeved on the outer periphery of the rear end of the rotating shaft 8. The outer periphery of the ring gear 17 is provided with teeth. The rotary reducer 15 is axially fixed to the outer periphery of the moving slide tube 2 and is parallel to the axis of the moving slide tube. A gear is fixed to the output end of the rotary reducer 15, and the gear is meshed with the outer ring gear 17 for transmission. The rotary reducer 15 rotates to drive the gear to mesh with the transmission ring gear 17, and the ring gear 17 drives the rotating shaft 8 to rotate synchronously.

[0047] Furthermore, a push rod shaft 10 is sleeved in the rotating shaft 8, the front end of the push rod shaft 10 extends out of the front end of the rotating shaft 8 and is hinged to the end of the cutter head telescopic strut 12, the rear end of the push rod shaft 10 extends out of the rear end of the rotating shaft 8 and is rotatably connected to a cutter head push-pull rod 19, and the cutter head push-pull rod 19 is axially arranged at the rear end of the movable slide tube 2; a head fixing plate 9 is arranged at the front end of the rotating shaft 8, and one end of the cutter head telescopic strut 12 is simultaneously hinged to the head fixing plate 9.

[0048] Specifically, in order to realize the extension and opening of the telescopic strut 12 of the cutter head, the push rod shaft 10 is inserted into the through hole at the center of the rotating shaft and matched with the clearance of the through hole, the front end of the push rod shaft 10 extends out of the center of the end of the rotating shaft 8 and the end of the head fixed disk 9, the outer periphery of the front end of the push rod shaft 10 is hinged with the fixed end of each cutter head telescopic strut 12, and the outer periphery of the fixed end at a distance from the fixed end of the cutter head telescopic strut 12 is simultaneously hinged on the head fixed disk 9 and supported by the head fixed disk 9. The rear end of the push rod shaft 10 passes through the bottom surface of the inner cavity of the rotating shaft 8 and the gear ring 17, and is rotatably connected to the telescopic end of the cutter head push-pull rod 19 through the bearing, and the fixed end of the cutter head push-pull rod 19 is fixed at the rear end axial center position of the movable slide tube 2.

[0049] The cutter head push-pull rod 19 can be an electric telescopic rod or a hydraulic cylinder. The telescopic end of the cutter head push-pull rod 19 can move forward and backward to drive the push rod shaft to drive the cutter head telescopic support rod 12 to extend and open at the end of the fixed plate like an umbrella-shaped opening and closing structure.

[0050] Furthermore, a tail fixed plate 18 is provided at the rear end of the cavity of the movable slide tube 2, and the fixed end of the cutter head push-pull rod 19 is arranged on the tail fixed plate 18. The rear end of the push rod shaft is rotatably connected with the telescopic end of the cutter head push-pull rod 19 through a bearing. The fixed end of the tube wall telescopic strut 20 located at the rear end of the movable slide tube 2 is arranged in the radial direction of the tail fixed plate 19, and the telescopic end of the tube wall telescopic strut 20 extends along the radial outer periphery of the tail fixed plate 18.

[0051] Specifically, in order to fix the cutter head push-pull rod 19, the tail fixing plate 18 is fixed to the rear end of the cavity of the movable slide tube 2 to close the cavity. Due to the tail fixing plate 18, the fixed end of the tube wall telescopic support rod 20 arranged at the rear end of the movable slide tube is fixed to the edge of the outer end surface of the tail fixing plate 18, and the telescopic end of the tube wall telescopic support rod 20 extends outward along the radial outer periphery of the tail fixing plate 18. Of course, the fixed end of the tube wall telescopic support rod 20 can also be fixed on the radial outer peripheral surface of the tail fixing plate 18. The fixed end of the cutter head push-pull rod 19 is axially fixedly connected to the center of the end surface of the tail fixing plate 18. The telescopic end of the cutter head push-pull rod 19 passes through the tail fixing plate 18 and is connected to the push rod shaft 10 through the bearing. The bearing can prevent the push rod shaft 10 from driving the telescopic end of the cutter head push-pull rod 19 to rotate and damage the cutter head push-pull rod during the rotation process.

[0052] As a preferred embodiment, an axial hole is arranged at the center of the tail fixing plate 18, and the fixed end of the cutter head push-pull rod 19 is sleeved in the axial hole and fixed radially by the axial hole.

[0053] Furthermore, the fixed end of the retaining ring telescopic push rod 4 is fixed to the outer periphery of the rear end of the sleeve seat 1, and the front radial outer periphery of the sleeve seat 1 is sleeved with a fixed retaining ring 7, and the sliding push plate 3 is sleeved on the side of the sleeve seat 1 close to the fixed retaining ring 7. The telescopic end of the retaining ring telescopic push rod 4 pushes the sliding push plate 3 to move forward and backward along the axial direction of the sleeve seat 1, and one end of the wall support rod 5 is hinged on the outer periphery of the fixed retaining ring 7, and the other end of the wall support rod 5 extends toward the outer periphery of the sliding push plate 3.

[0054] Specifically, the rear end of the sleeve seat 1 has a tail flange extending toward the periphery, the fixed end of the retaining ring telescopic push rod 4 is arranged on the tail flange, the telescopic end of the retaining ring telescopic push rod 4 extends toward the front end of the sleeve seat 1 and is parallel to the axial direction of the sleeve seat 1, and the retaining ring telescopic push rod 4 is arranged in a circular array with equal spacing in sequence on the tail flange. The sliding push plate 3 is an annular body, and the sliding push plate 3 is sleeved on the outside of the sleeve seat 1 and is in clearance with the sleeve seat 1, and can move forward and backward along the axial direction of the sleeve seat 1. The telescopic end of each retaining ring telescopic push rod 4 is vertically connected to the sliding push plate 3. The front end periphery of the sleeve seat 1 has a head flange extending radially toward the periphery, and the head flange extending out forms the fixed retaining ring 7, and the wall support rods 5 are arranged in a circular array with equal spacing on the periphery of the fixed retaining ring 7, and one end of each wall support rod 5 is hinged on the outer peripheral surface of the fixed retaining ring 7, and the other end of the wall support rod 5 extends toward the outer peripheral tail of the sleeve seat 1 to form an umbrella-shaped structure, and the wall support rods 5 are distributed on the periphery of the sliding push plate 3.

[0055] Furthermore, the extended end of the wall support rod 5 is hinged with a downward-attaching plate 6, and the wall support rod 5 is unfolded so that the downward-attaching plate 6 is axially fitted with the inner wall of the pipe; a sliding connection device is provided between the movable sliding tube 2 and the sleeve seat 1 to realize the sliding connection.

[0056] Specifically, in order to achieve a more stable fixation of the sliding sleeve fixing device on the inner wall of the pipeline, the extended end of each support rod wall is hinged to the middle of the flat plate 6, and when the support rod 5 is stretched and opened, the flat plate 6 can be axially fitted with the inside of the pipeline. The setting of the sliding connection device can enable the pipe wall supporting mechanism to drive the pipe wall cleaning device to move axially along the sleeve fixing mechanism to clean the inner wall of the pipeline.

[0057] As a preferred embodiment, the axial sliding connection device includes a rack 16 arranged on the outer periphery of the movable sliding tube 2 and a gear arranged on the sleeve seat 1 and meshing with the rack 16, and the gear is driven by a linear reducer 14 fixed at the end of the sleeve seat 1.

[0058] Of course, as a preferred embodiment, the axial sliding connection device can also be selected as follows: the axial sliding connection device is an electric linear slide, the electric linear slide is provided with a motor, the motor is a stepper or servo motor, the slide rail of the electric linear slide is axially arranged on the outer periphery of the moving slide tube 2; the slider of the electric linear slide is fixed on the inner periphery of the sleeve seat 1 to achieve sliding connection between the moving slide tube 2 and the sleeve seat 1. The rotation of the motor of the electric linear slide drives the slider to move linearly along the slide rail.

[0059] Furthermore, the head fixing plate 9 includes a plate body and a plurality of brackets connected to the edge of the plate body, one end of the bracket extends axially out of the surface of the plate body, the cutter head telescopic support rod 12 includes a fixed rod and a telescopic rod sleeved in the fixed rod, the outer end of the fixed rod is hinged to the end of the push rod shaft 10, the middle part of the fixed rod is hinged to the end of the bracket extending out of the plate body, and the outer end of the telescopic rod is provided with the rotating cutter head 11.

[0060] The head fixed disk 9 is a disc-shaped bracket, the outer diameter of the disk body is substantially consistent with the outer diameter of the rotating shaft 8, the central opening of the disk body can accommodate the push rod shaft 10 to pass through, the edge of the disk body is circumferentially arrayed with the plurality of brackets, and the end of each bracket is hinged to a corresponding cutter head telescopic support rod 12. The telescopic rod of the cutter head telescopic support rod 12 can be telescopically adjusted along the fixed rod so that the cutter head can clean pipes of different diameters, and the cutter head telescopic support rod 12 can be automatically adjusted by using an electric telescopic rod.

[0061] Of course, as a preferred embodiment, the adjustment of the telescopic support rod 12 of the cutter head is manually adjusted, a locking nut 13 is provided at the end of the fixed rod, an axial through groove is provided at the outer periphery of the end of the fixed rod so that the end opening has tension, and an external thread is provided at the outer periphery of the end, and the locking nut 13 and the end of the fixed rod are threadedly connected to lock the telescopic rod. When the telescopic support rod 12 of the cutter head is manually adjusted, the length of the telescopic support rod 12 of the cutter head is adjusted in advance according to the inner diameter of the pipe and then locked.

[0062] In this embodiment, there are 4 brackets for the head fixing plate 9, and the number of the cutter head telescopic struts 12 is 4. Since each cutter head telescopic strut 12 is hinged to the push rod shaft 10 and the bracket, when the push rod shaft 10 moves axially forward and backward, the bracket is used as a support point to realize the radial expansion and opening of the cutter head telescopic strut 12.

[0063] Furthermore, the rotating cutter head 11 includes a cutter head motor and a plurality of blades. The cutter head motor is connected to the telescopic rod. The annular array of blades is arranged on the output shaft of the cutter head motor. The blades are spread outward along the radial periphery of the output shaft in a trumpet shape.

[0064] Specifically, in order to effectively clean the inner wall of the pipe, the cutter head achieves continuous cleaning by rotating the blade. The end of each blade is sharpened to form a cleaning surface. The blade is made of stainless steel, and the tail of the blade is plugged into the output shaft of the cutter head motor and fastened with screws.

[0065] Furthermore, in order to realize the control of the entire cleaning device, a controller 21 is arranged in the cavity at the tail of the mobile slide tube, and the cutter head motor of the rotating cutter head 11, the linear reducer 14, the rotating reducer 15, the retaining ring telescopic push rod 4, the supporting telescopic rod 20, the cutter head push-pull rod 19, the cutter head telescopic support rod 12, the electric linear slide and other electric devices are all electrically connected to the controller, and the controller can control the movement of each component through a wireless remote controller, and the controller can realize the orderly movement of each component through the editing program. At the same time, since the cleaning device of the present invention operates in water, various components have a certain waterproof function to avoid damage.

[0066] The present invention also provides an automatic pipeline cleaning method, which is implemented using the automatic pipeline cleaning device described above and specifically includes the following steps:

[0067] Step 1) First, select a suitable automatic pipeline cleaning device according to the inner diameter of the pipeline to be cleaned, and place it at the starting end position in the pipeline from the observation well mouth. The automatic pipeline cleaning device is placed along the axial direction of the pipeline.

[0068] Step 2) Control the tube wall telescopic support rod 20 of the tube wall support mechanism through a controller, adjust the extension of the telescopic end of the tube wall telescopic support rod 20, so that the telescopic end of the tube wall telescopic support rod 20 is in contact with the inner wall of the pipe for support and fixation, and the tube wall telescopic support rod 20 at the periphery of the front and rear ends of the tube wall support mechanism supports and limits the automatic pipeline cleaning device to the axis of the pipe.

[0069] Step 3) Control the retaining ring telescopic push rod 4 of the sliding pipe fixing mechanism through the controller, adjust the retaining ring telescopic push rod 4 to push the sliding push plate 3 to move forward, and push the wall support rod 5 to gradually expand outward during the movement of the sliding push plate 3. The extended end of the wall support rod 5 is supported on the inner wall of the pipeline to fix the entire pipeline automatic cleaning device on the axis of the pipeline.

[0070] Step 4) Control the cutter head push-pull rod 19 of the pipe wall cleaning device through a controller, adjust the telescopic end of the cutter head push-pull rod 19 to extend and retract the cutter head telescopic strut 12 radially, and at the same time start the cutter head motor through the controller to drive the rotating cutter head 11 to rotate; when the rotating cutter head 11 contacts the inner wall of the pipe, the cutter head push-pull rod 19 stops working.

[0071] Step 5) The controller controls the rotation of the rotary reducer 15, and the rotation of the rotary reducer 15 drives the gear ring 17 to rotate. The gear ring 17 drives the rotating shaft 9 to rotate so that the cutter head telescopic support rod 12 rotates radially around the rotating shaft 9. The rotating shaft 9 drives the rotating cutter head 11 to start cleaning the radial inner wall of the pipe.

[0072] Step 6) Controlling the tube wall telescopic support rod 20 through a controller to adjust the tube wall telescopic support rod 20 to contract and separate from the inner wall of the pipe.

[0073] Step 7) The sliding connection device is controlled by a controller, and the sliding connection device drives the movable slide tube to move forward from the starting position along the axial direction of the sleeve seat so that the cutter head telescopic support rod 12 is fed forward axially along the inner wall of the pipe, and the rotating cutter head 11 rotates radially and axially at the same time to clean the inner wall of the pipe in sequence; the starting position is the position when the sleeve seat is located at the front end of the movable slide tube, the node position is the position when the sleeve seat is located at the rear end of the movable slide tube, and the distance between the positions of the sleeve seat at the front and rear ends of the movable slide tube is the distance of a section of the pipe to be cleaned;

[0074] When the movable slide tube moves, the linear reducer 14 on the sleeve seat 1 can be controlled to rotate to drive the rack 16 to move the movable slide tube along the sleeve seat 1. Of course, the movable slide tube can realize forward and backward movement and stop by setting displacement sensors at both ends of the movable slide tube, and triggering the sliding connection device through the displacement sensors;

[0075] As a preferred embodiment, the movable slide tube is moved along the sleeve seat 1 by controlling the rotation of the motor of the electric linear slide.

[0076] Step 8) the movable slide pipe stops moving when it moves to the node position at the rear end of the sleeve seat; the node position is the position when the sleeve seat is located at the rear end of the movable slide pipe, and the distance between the positions of the sleeve seat at the front and rear ends of the movable slide pipe is the distance of the section of the pipeline to be cleaned.

[0077] Step 9) The controller is used to control the tube wall telescopic support rod 20 again, and the tube wall telescopic support rod 20 is adjusted to extend and contact and fix with the inner wall of the tube wall. The tube wall telescopic support rod 20 at the front and rear peripheries of the tube wall support mechanism limits the automatic pipeline cleaning device to the center of the tube wall.

[0078] Step 10) Control the retaining ring telescopic push rod 4 through the controller, adjust the telescopic end of the retaining ring telescopic push rod 4 to contract and drive the sliding push plate 3 to move toward the rear end of the sleeve seat; control the sliding connection device through the controller, and the sliding connection device drives the sleeve seat to move forward from the node position along the axis of the movable slide pipe and stop when it feeds to the initial position of the movable slide pipe and the sleeve seat, thereby completing the cleaning of a distance of the inner wall of the pipe.

[0079] Step 11) repeats step 6) to step 10) until the cleaning device reaches the end position of the pipeline, completing the cleaning of the entire pipeline inner wall.

[0080] Step 12) Control the cutter head push-pull rod 19 to contract through the controller to drive the cutter head telescopic support rod 12 to radially contract to an axial position, so that the rotating cutter head 11 is separated from the inner wall of the pipe; control the pipe wall telescopic support rod 20 to contract and separate from the inner wall of the pipe, and control the cutter head motor to stop rotating.

[0081] Step 13) Remove the entire cleaning device from the observation well at the end of the pipeline.

[0082] In the above cleaning method of the present invention, the controller controls all moving parts to realize actions, and the controller controlling the moving parts belongs to the automatic control of the prior art, which is not described in detail in the present invention. The cleaning method of the present invention can realize automatic cleaning of the pipeline through the programming program of the controller.

[0083] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. The automatic pipe cleaning device of claim 1, comprising a pipe wall cleaning mechanism, a pipe wall supporting mechanism and a sliding pipe fixing mechanism which are sequentially sleeved inside and outside the pipe, the pipe wall supporting mechanism comprising a movable sliding pipe, a plurality of pipe wall telescopic support rods are arranged in a circumferential array at both ends of the movable sliding pipe, the telescopic ends of the pipe wall telescopic support rods can be supported on the inner wall of the pipe so that the movable sliding pipe is positioned at the center of the pipe; the sliding pipe fixing mechanism comprises a sleeve seat, the sleeve seat is sleeved on the outer circumference of the movable sliding pipe and is axially slidably connected to the movable sliding pipe with a plurality of supporting wall rods in an array at the front end outer circumference of the sleeve seat, a plurality of retaining ring telescopic push rods are arranged in an array at the rear end outer circumference of the sleeve seat, the telescopic end of the retaining ring telescopic push rod is connected to a sliding push plate sleeved on the outer circumference of the sleeve seat; the pipe wall cleaning mechanism comprises a rotating shaft sleeved in the movable sliding pipe, the front end of the rotating shaft extends out of the end of the movable sliding pipe, and a plurality of cutter head telescopic support rods are hingedly connected in a circumferential array at the front end of the rotating shaft The end portion of the cutter head telescopic support rod is provided with a rotating cutter head, and the rotating cutter head extends toward the inner wall of the pipe and contacts with the inner wall of the pipe; the telescopic push rod of the retaining ring drives the sliding push plate to move the support wall rod radially expanded and fixed on the inner wall of the pipe, and the movable slide tube moves axially along the sleeve seat so that the rotating cutter head moves axially along the inner wall of the pipe, and the rotating movement of the rotating shaft drives the rotating cutter head to rotate radially along the inner wall of the pipe to clean the inner wall of the pipe; the rear end of the movable slide tube has a cavity, the rear end of the rotating shaft extends out of the bottom surface of the cavity, and the rear end of the rotating shaft extending out of the bottom surface of the cavity is provided with a gear ring; a rotating reducer is provided on the rear end pipe wall of the movable slide tube, the output end of the rotating reducer is meshed with the gear ring, and the rotating reducer drives the gear ring to rotate so that the rotating shaft rotates; a sliding connection device is provided between the movable slide tube and the sleeve seat; A push rod shaft is sleeved in the rotating shaft, the front end of the push rod shaft extends out of the front end of the rotating shaft and is hinged to the end of the cutter head telescopic support rod, the rear end of the push rod shaft extends out of the rear end of the rotating shaft and is rotatably connected to a cutter head push-pull rod, and the cutter head push-pull rod is axially arranged at the rear end of the movable slide tube; A head fixing disk is provided at the front end of the rotating shaft, and one end of the cutter head telescopic strut is hinged on the head fixing disk; a tail fixing disk is provided at the rear end of the cavity of the movable slide tube, and the fixed end of the cutter head push-pull rod is provided on the tail fixing disk, and the rear end of the push rod shaft is rotatably connected with the telescopic end of the cutter head push-pull rod through a bearing, and the fixed end of the tube wall telescopic strut located at the rear end of the movable slide tube is provided in the radial direction of the tail fixing disk, and the telescopic end of the tube wall telescopic strut extends along the radial outer periphery of the tail fixing disk; The fixed end of the retaining ring telescopic push rod is fixed to the rear end periphery of the sleeve seat, the front end periphery of the sleeve seat is sleeved with a fixed retaining ring, the sliding push plate is sleeved on one side of the sleeve seat close to the fixed retaining ring, the telescopic end of the retaining ring telescopic push rod pushes the sliding push plate to move forward and backward along the axial direction of the sleeve seat, one end of the supporting wall rod is hinged on the periphery of the fixed retaining ring, and the other end of the supporting wall rod extends toward the periphery of the sliding push plate; The end of the extended wall support rod is hinged with a flat plate, and the wall support rod is extended so that the flat plate is axially fitted with the inner wall of the pipe; The head fixing plate includes a plate body and a plurality of brackets connected to the edge of the plate body, one end of the bracket extends axially out of the plate body, the cutter head telescopic support rod includes a fixed rod and a telescopic rod sleeved in the fixed rod, the outer end of the fixed rod is hinged to the end of the push rod shaft, the middle part of the fixed rod is hinged to the end of the bracket extending out of the plate body, and the outer end of the telescopic rod is provided with the rotating cutter head.

2. The automatic pipeline cleaning device according to claim 1, characterized in that: The rotary cutter head comprises a cutter head motor and a plurality of blades. The cutter head motor is connected to the telescopic rod. The annular array of blades is arranged on the output shaft of the cutter head motor. The blades are spread outward along the radial outer circumference of the output shaft in a trumpet shape.

3. A pipeline automatic cleaning method using the pipeline automatic cleaning device according to any one of claims 1 to 2, characterized in that: The steps include: Step 1), placing the automatic pipeline cleaning device in the pipeline to be cleaned; Step 2), adjusting the tube wall telescopic support rod to extend and contact the inner wall of the tube, and the tube wall telescopic support rod supports and limits the movable sliding tube in the tube; Step 3), start the retractable push rod of the retaining ring to extend and push the sliding push plate forward so that the supporting wall rod supports the inner wall of the pipe and fixes the sleeve seat at the center of the pipe; Step 4), adjusting the cutter head telescopic strut to expand radially until the rotating cutter head contacts the inner wall of the pipe and stops; and at the same time, starting the rotating cutter head to start rotating; Step 5), starting the rotation of the rotating shaft, the rotation of the rotating shaft drives the cutter head telescopic strut to rotate radially, and the rotating cutter head starts to clean the radial inner wall of the pipe; Step 6), adjusting the tube wall telescopic support rod to shrink and separate from the inner wall of the tube; Step 7), adjusting the movable slide pipe to move forward axially from the starting position along the sleeve seat to make the cutter head telescopic support rod move forward axially along the inner wall of the pipe, and the rotating cutter head rotates radially and axially at the same time to clean the inner wall of the pipe in sequence; Step 8), the movable sliding pipe stops moving when it moves to the node position at the rear end of the sleeve seat; Step 9), the tube wall telescopic support rod is again adjusted to extend and contact and fix with the inner wall of the tube, Step 10), start the retractable push rod of the retaining ring to contract and drive the sliding push plate to move backward; adjust the sleeve seat to move forward along the movable sliding pipe to the initial position, and complete the cleaning of a section of the inner wall of the pipeline.

4. The automatic pipeline cleaning method according to claim 3 is characterized in that: In the step 4), the radial expansion of the telescopic strut of the cutter head is achieved by controlling the telescopic end of the cutter head push-pull rod to extend and retract, thereby driving the push rod shaft to push and pull the end of the telescopic strut of the cutter head; In the step 5), the rotational motion of the rotating shaft is controlled by the rotation of the rotating reducer. driving the gear ring to rotate; In the steps 7) and 10), the relative movement between the sleeve seat and the movable slide tube is achieved by controlling the sliding connection device.

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