Flexible high pressure hose drive device and method of use

Abstract

The application discloses a flexible high-pressure hose driving device, which comprises a frame body, import and export are arranged at two ends of the frame body respectively, the hose can penetrate through the frame body, a driving wheel and a passive wheel which can rotate are arranged in the frame body, the hose is clamped between the driving wheel and the passive wheel, the driving wheel is connected with a motor, the motor is used for driving the driving wheel to rotate and detecting the rotating speed of the driving wheel, the passive wheel is connected with a measuring device, the measuring device is used for detecting the rotating speed of the passive wheel, the measuring device is electrically connected with the motor, and the motor is used for controlling the driving wheel to rotate according to the rotating speed difference between the driving wheel and the passive wheel. When in use, when the rotating speed difference is greater than a preset value, the motor is reversely rotated first, the driving wheel is reversely rotated, the nozzle is retreated for a distance and then stopped, the normal pipe conveying speed is recovered, and the cycle is repeated until the whole pipe is cleaned. The application can simulate the feeling when the pipe is conveyed manually, can judge the pipe wall scarring condition, and has the advantages of high cleaning efficiency and good quality.

Description

Technical Field

[0001] This invention belongs to the field of high-pressure water cleaning technology, specifically a flexible high-pressure hose driving device and its usage method. Background Technology

[0002] In the field of ultra-high pressure water jet cleaning, cleaning shell-and-tube heat exchangers is one of the most challenging aspects. Heat exchangers in industrial production serve a crucial function of heat exchange. Typically, the product being processed flows through the tubes, while high-temperature steam is introduced outside. After a period of operation, scale often forms on the inner walls of the tubes, sometimes completely clogging them. This necessitates using a high-pressure hose with a rotating nozzle at the end. High-pressure water is introduced, and the nozzle sprays a high-speed water jet to clean the inner walls of the heat exchanger tubes; otherwise, the heat exchange efficiency will be compromised. Currently, tubes are manually fed in one by one for flushing. This method is risky; the high pressure of the high-speed water jet poses a risk of injury to operators who are close to the tubes. Furthermore, the large number of tubes in a shell-and-tube heat exchanger makes manual tube feeding labor-intensive, resulting in low cleaning quality and efficiency. Existing cleaning equipment also has a mechanical tube feeding method, but mechanical tube feeding cannot detect the condition of scaling on the inner wall of the tube. If a large scaling or a completely blocked tube hole is encountered, forcibly feeding the tube will damage the high-pressure hose and make it difficult to complete effective cleaning. Summary of the Invention

[0003] To overcome the shortcomings of the prior art, the present invention provides a flexible high-pressure hose driving device and a method of use. The purpose is to simulate the feel of manual hose feeding by mechanically feeding the hose, to judge the condition of the hose wall by sensing the resistance when feeding the hose into the tube, and to repeatedly clean the location of the scale, thereby improving the cleaning quality and efficiency. In this way, it can completely replace manual labor, avoid risks, and automatically complete the cleaning of the inner wall of the tube.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] A flexible high-pressure hose driving device includes a frame body; both ends of the frame body are respectively provided with inlets and outlets, allowing the hose to pass through the frame body; the key feature is that the frame body is provided with a rotatable drive wheel and a driven wheel, and the hose is clamped between the drive wheel and the driven wheel, so that when the drive wheel rotates, the hose is driven to move by the friction between the drive wheel and the hose wall, and the driven wheel is driven to rotate by the friction between the driven wheel and the hose wall; the drive wheel is connected to a motor for driving the drive wheel to rotate and for detecting the rotational speed of the drive wheel; the driven wheel is connected to a... A measuring device is used to detect the rotational speed of the driven wheel; the measuring device is electrically connected to the motor and is used to control the rotation of the drive wheel based on the speed difference between the drive wheel and the driven wheel; the driven wheel is rotatably mounted on the pressure wheel frame; the pressure wheel frame is slidably connected to the frame body, so that the driven wheel is in a floating state; the two ends of the spring are respectively supported on the pressure wheel frame and the frame body, and are used to drive the driven wheel to push the hose against the drive wheel through its own rebound force, so that the hose is clamped between the drive wheel and the driven wheel; the use includes the following steps;

[0006] S1: Pass one end of the hose through the frame body and clamp the hose between the drive wheel and the driven wheel; then connect the end of the hose to the nozzle;

[0007] S2: Aim the nozzle at the pipe to be cleaned, and connect the other end of the hose to a high-pressure water source so that the nozzle can spray a high-pressure water jet.

[0008] S3: Start the motor to drive the drive wheel to rotate and move the hose, sending the nozzle into the pipe at a normal delivery speed, and simultaneously measure the rotational speed of the drive wheel; at the same time, the measuring device detects the rotational speed of the driven wheel;

[0009] S4: Compare the rotational speed of the passive wheel with the rotational speed of the driving wheel to obtain the speed difference;

[0010] S5: When the speed difference is greater than the preset value, the motor is controlled to rotate and enter the sensing working mode; the sensing working mode is to take corresponding pipe delivery measures according to the size of the obstacle encountered and the size of the scab.

[0011] The corresponding pipe feeding measures are implemented by setting a first threshold, a second threshold, and a third threshold. When the obstruction reaches the first threshold, it indicates that the scale on the pipe wall is small and cannot block the nozzle from passing through. The nozzle can proceed slowly to improve the cleaning effect on the scale. When the obstruction reaches the second threshold, it indicates that the scale is large. The pipe feeding is stopped so that the nozzle can clean the scale for a longer period of time. After the scale is cleaned away, the nozzle can continue to move forward, thereby improving the cleaning effect. When the obstruction reaches the third threshold, it indicates that the scale is very large and the nozzle can hardly pass through directly. Continuing to feed the pipe will damage the hose or the nozzle. The hose is retracted to a certain extent, and then the nozzle is moved forward again. The reciprocating impact is used until the scale is cleaned and cleared, and then the normal cleaning speed is resumed. The preset values ​​include the first threshold, the second threshold, and the third threshold, which are set in ascending order.

[0012] When the speed difference is greater than the first threshold, the sensing working mode is to first decelerate so that the drive wheel reduces its speed and the nozzle moves forward slowly until the speed difference is less than the first threshold. Then, steps S3 to S5 are repeated to restore the normal pipe feeding speed until the cleaning of the entire pipe is completed.

[0013] When the speed difference is greater than the second threshold, the sensing working mode is to first stop so that the drive wheel stops rotating, and after the nozzle stops for a period of time, repeat steps S3 to S5 until the cleaning of the entire pipeline is completed.

[0014] When the speed difference is greater than the third threshold, the sensing working mode is to first reverse the direction so that the drive wheel reverses the direction, so that the nozzle retracts a certain distance and stops, and then repeat steps S3 to S5 until the cleaning of the entire pipeline is completed.

[0015] The first threshold is that the passive wheel speed is 10% slower than the drive wheel speed;

[0016] The second threshold is that the passive wheel speed is 30% slower than the drive wheel speed;

[0017] The third threshold is that the passive wheel speed is 60% slower than the drive wheel speed.

[0018] As a further optimization, the motor is a servo motor; the measuring device is an encoder.

[0019] As a further optimization, there are multiple drive wheels and multiple driven wheels; the multiple drive wheels and multiple driven wheels are respectively located on both sides of the hose; at least one drive wheel is connected to the motor; at least one driven wheel is connected to the measuring device.

[0020] As a further optimization, there are two drive wheels and two driven wheels.

[0021] As a further optimization, a drive gear is connected to the output shaft of the servo motor; the drive wheel corresponding to the servo motor includes a driven gear coaxially connected; the drive gear meshes with the driven gear, and the servo motor drives the drive wheel to rotate through gear transmission; an end gear is coaxially connected to the driven wheel corresponding to the encoder; the end gear meshes with the speed measuring gear of the encoder, and is used to measure the rotational speed of the driven wheel through gear transmission; the encoder is mounted on the pressure roller frame, and is used to move together with the driven wheel.

[0022] As a further optimization, slide bars are provided on both sides of the pressure roller frame; the slide bars can be slidably inserted into the preset slide rails on the frame body for sliding connection between the pressure roller frame and the frame body.

[0023] The beneficial effects of this invention are as follows:

[0024] (1) It can simulate human touch, automatically sense obstacles during the cleaning process, automatically adapt to the resistance of the scale on the tube wall, and clean the tubes in a fully automatic manner; it can even automatically identify and adapt to tubes that are completely blocked by scale.

[0025] (2) High cleaning efficiency and good quality; for tubes with no or few scales, the tube feeding speed can be adaptively selected to improve efficiency; for tubes with many scales, the tube feeding speed can be adaptively slowed down and the scaled area can be cleaned repeatedly to ensure cleaning quality.

[0026] (3) The pipe feeding operation is carried out entirely by mechanical devices, which can completely replace manual labor, save manpower, and avoid the risk of personnel being injured by high-pressure water or splashing slag.

[0027] In summary, this device can simulate the feel of manual pipe feeding to determine the condition of pipe wall scaling and repeatedly clean the scaling; it has the advantages of high cleaning efficiency, good quality, replacement of manual labor, and safety and reliability. Attached Figure Description

[0028] Figure 1 This is a schematic diagram illustrating the working principle of Embodiment 1 of the present invention;

[0029] Figure 2 This is a schematic diagram of the structure of Embodiment 1 of the present invention;

[0030] Figure 3 This is a schematic diagram of the frame structure of Embodiment 1 of the present invention;

[0031] Figure 4 This is a schematic diagram of the passive wheel mounting structure according to Embodiment 1 of the present invention;

[0032] Figure 5 This is a schematic cross-sectional view of the drive wheel in Embodiment 1 of the present invention;

[0033] Figure 6 This is a schematic diagram of the encoder structure according to Embodiment 1 of the present invention;

[0034] Figure 7 This is a schematic diagram of the motor structure according to Embodiment 1 of the present invention;

[0035] In the diagram: 1. Frame body, 11. Side strip, 12. Slide block, 13. Mounting bracket, 14. Pressure cap, 15. Window plate, 2. Hose, 21. Nozzle, 3. Drive wheel, 31. Driven gear, 32. Soft elastic layer, 33. Central shaft, 34. Rotating sleeve, 35. Bearing, 36. Bearing retaining ring, 37. Long bolt, 4. Driven wheel, 41. Pressure wheel frame, 411. Slide bar, 42. Spring, 43. End gear, 44. Encoder base plate mounting hole, 5. Servo motor, 51. Drive gear, 6. Encoder, 61. Encoder base plate, 62. Speed ​​measuring gear, 7. Tube column, 71. Scabbing, 8. Guide frame. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some preferred embodiments of the present invention, and not all embodiments. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention, and are not intended to limit the scope of protection of the present invention.

[0037] Example 1: Please refer to Figure 1-7 ;

[0038] This invention provides the following technical solution: a flexible high-pressure hose driving device, used for high-pressure water cleaning of scale 71 on the inner wall of the tubes 7 of a tube heat exchanger, comprising a frame body 1; the frame body 1 has inlets and outlets at both ends, allowing the hose 2 to pass through the frame body 1; exemplarily, window plates 15 are bolted to both ends of the frame body 1, with the inlet and outlet of the hose 2 in the middle of the window plate 15, and a guide device for guiding the hose 2 in and out can be connected to the window plate 15; the key feature is that the frame body 1 is provided with a rotatable drive wheel 3 and a driven wheel 4, and the hose 2 is clamped in the drive wheel 3. Between the driving wheel 3 and the driven wheel 4, the driving wheel 3 is used to drive the hose 2 to move through the friction between the driving wheel 3 and the wall of the hose 2 when the driving wheel 3 rotates, and the driven wheel 4 is used to drive the driven wheel 4 to rotate through the friction between the driving wheel 3 and the wall of the hose 2. The driving wheel 3 is connected to a motor to drive the driving wheel 3 to rotate and to detect the rotation speed of the driving wheel 3. The driven wheel 4 is connected to a measuring device to detect the rotation speed of the driven wheel 4. The measuring device is electrically connected to the motor and is used to control the rotation of the driving wheel 3 according to the difference in rotation speed between the driving wheel 3 and the driven wheel 4.

[0039] The frame 1 provides a rotatable support base for the drive wheel 3 and the driven wheel 4, ensuring their stability. The frame 1 itself features a hollow design to accommodate harsh working conditions (during cleaning, water containing certain acids and alkalis, as well as solid scale, will be sprayed out; the frame design facilitates the removal of these harmful substances). For example, the frame 1 is arranged side-by-side with the tubes 7, and a movable guide frame 8 is provided above the tubes 7 to guide the nozzles 21 at the end of the hose 2 to align with the openings of the tubes 7 one by one; alternatively, the frame 1 can be positioned above the tubes 7 and made movable, thus omitting the guide frame 8.

[0040] When using it, the following steps are included:

[0041] S1: Pass one end of the hose 2 through the frame body 1, and clamp the hose 2 between the drive wheel 3 and the driven wheel 4; then connect the end of the hose 2 to the nozzle 21;

[0042] S2: Aim the nozzle 21 at the tubes to be cleaned, and connect the other end of the hose 2 to a high-pressure water source so that the nozzle 21 can spray a high-pressure water jet.

[0043] S3: Start the motor to drive the drive wheel 3 to rotate and drive the hose 2 to move, so as to send the nozzle 21 into the tube at a normal tube feeding speed, and simultaneously measure the rotation speed of the drive wheel 3; at the same time, the measuring device detects the rotation speed of the driven wheel 4.

[0044] S4: Compare the rotational speed of the passive wheel 4 with the rotational speed of the drive wheel 3 to obtain the speed difference;

[0045] S5: When the speed difference is greater than a preset value, the motor is controlled to enter the induction working mode; the preset value includes a first threshold, a second threshold, and a third threshold set in ascending order;

[0046] When the speed difference is greater than the first threshold, the sensing working mode is to first decelerate so that the drive wheel 3 reduces its speed and the nozzle 21 moves forward slowly until the speed difference is less than the first threshold. Then, steps S3 to S5 are repeated to restore the normal tube feeding speed until the cleaning of the entire tube is completed.

[0047] When the speed difference is greater than the second threshold, the sensing working mode is to first stop so that the drive wheel 3 stops rotating, and the nozzle 21 stops for a period of time, and then repeat steps S3 to S5 to restore the normal tube feeding speed until the cleaning of the entire tube is completed.

[0048] When the speed difference is greater than the third threshold, the sensing working mode is to first reverse the direction so that the drive wheel 3 reverses the direction, so that the nozzle 21 retracts a certain distance and stops, and then repeats steps S3 to S5 to restore the normal tube feeding speed until the cleaning of the entire tube is completed.

[0049] S6: After one tube is cleaned, the motor reverses to retract the hose 2, then the nozzle 21 is aimed at the next tube, and steps S2 to S5 are repeated to clean the next tube.

[0050] The working principle of this embodiment is as follows: During its forward movement, the nozzle 21 automatically senses the presence of an obstacle, a scab 71. It then automatically enters a simulated manual pipe-feeding mode (i.e., a sensing working mode), retracting a short distance before slowly advancing again to clean the obstacle, scab 71. This process is repeated until the entire blocked pipe is cleaned. The principle of automatic obstacle detection is as follows: the drive wheel 3 propels the high-pressure hose 2 forward. Upon encountering an obstacle, the drive wheel 3 continues to rotate. Since the torque of the drive wheel 3 exceeds the frictional force, slippage occurs. The passive wheel 4 decelerates or even stops rotating because its rotation is driven by the frictional force of the hose 2 moving forward or backward. When the measuring device detects that the passive wheel 4 is not rotating or is slowing down, the circuit control system identifies this phenomenon and determines that an obstacle has been encountered. Based on the size of the obstacle and the size of the scab 71, corresponding pipe-feeding measures are taken. These corresponding pipe-feeding measures are implemented by setting a first threshold, a second threshold, and a third threshold. When the obstruction reaches the first threshold, it indicates that the scale 71 on the pipe wall is small and cannot block the nozzle 21 from passing through. The nozzle can proceed slowly to improve the cleaning effect on the scale 71. When the obstruction reaches the second threshold, it indicates that the scale 71 is large. The nozzle should be stopped to allow the nozzle 21 to clean the scale 71 for a longer period of time. After the scale 71 is cleaned away, the nozzle can continue to move forward, thereby improving the cleaning effect. When the obstruction reaches the third threshold, it indicates that the scale 71 is very large and the nozzle 21 can hardly pass through directly. Continuing to move the nozzle would damage the hose 2 or the nozzle 21. The hose 2 should be retracted to a certain extent, and then the nozzle should be moved forward again. The reciprocating impact should be used until the scale 71 is cleaned and cleared, and then the normal cleaning speed can be resumed. In this exemplary embodiment, the threshold values ​​are as follows: the third threshold corresponds to the situation where the passive wheel 4 stops rotating, the hose 2 is completely blocked, and the drive wheel 3 completely slips, i.e., the situation where the speed difference is the largest; the first threshold corresponds to the situation where the passive wheel 4 rotates 5% slower than the drive wheel 3, the drive wheel 3 slips slightly, but can still drive the hose 2 to continue moving forward; the second threshold is between the first and third thresholds, corresponding to the situation where the passive wheel 4 rotates 30% slower than the drive wheel 3, and although the hose 2 can still continue moving forward, the resistance is large and the drive wheel 3 slips severely.

[0051] The benefits of using this device are:

[0052] (1) It can simulate human touch, automatically sense obstacles during the cleaning process, automatically adapt to the resistance of the scale 71 on the tube wall, and clean the tubes in a fully automatic manner; it can even automatically identify and adapt to tubes that are completely blocked by the scale 71.

[0053] (2) High cleaning efficiency and good quality; for tubes without 71 or with few 71 scabs, the tube feeding speed can be adaptively selected to improve efficiency; for tubes with many 71 scabs, the tube feeding speed can be adaptively slowed down and the 71 scabs can be cleaned repeatedly to ensure cleaning quality.

[0054] (3) The pipe feeding operation is carried out entirely by mechanical devices, which can completely replace manual labor, save manpower, and avoid the risk of personnel being injured by high-pressure water or splashing slag.

[0055] In summary, this device can simulate the feel of manual pipe feeding to determine the condition of the pipe wall scaling 71, and repeatedly clean the scaling 71; it has the advantages of high cleaning efficiency, good quality, replacement of manual labor, and safety and reliability.

[0056] It should be noted that the preset values ​​include at least a third threshold to enable the device to have a retraction function, simulating manual intervention to overcome tube blockage. Furthermore, the added first and second thresholds can better accommodate incomplete blockages, reducing the number of retractions and improving efficiency. Additionally, while this embodiment is applied to cleaning heat exchanger tubes, the device can also be used for cleaning other pipelines.

[0057] For example, to keep the passive wheel 4 in a floating state, maintain close contact between the two sides of the hose 2 and the drive wheel 3 and the passive wheel 4, and stabilize the friction. A relatively stable friction can, on the one hand, stably deliver power to the hose 2, and on the other hand, facilitate comparison of the magnitude of power and resistance, thereby accurately judging the size of the obstacle. The passive wheel 4 is rotatably mounted on the pressure wheel frame 41; the pressure wheel frame 41 is slidably connected to the frame body 1; the two ends of the spring 42 are respectively supported on the pressure wheel frame 41 and the frame body 1, and are used to drive the passive wheel 4 to push the hose 2 against the drive wheel 3 through its own rebound force, so that the hose 2 is clamped between the drive wheel 3 and the passive wheel 4. In an exemplary installation method, one end of the spring 42 is inserted into the pressure cap 14, and under the action of the pressure cap 14, the extension direction of the spring 42 is kept facing the pressure wheel frame 41. The outer wall of the pressure cap 14 has external threads for screwing onto the mounting bracket 13, and the mounting bracket 13 is bolted to the frame body 1. As can be seen, the pressure cap 14, the mounting bracket 13, and the spring 42 are all detachable for easy maintenance; secondly, the compression of the spring 42 can be adjusted by rotating the pressure cap 14, thereby adjusting the clamping force, so the basic friction force is adjustable.

[0058] Preferably, the motor is a servo motor 5, whose built-in control circuit can effectively control the rotation of the drive wheel 3 and provide real-time feedback on the speed of the drive wheel 3. There are many devices for measuring the speed of the driven wheel 4; commonly used speed sensors convert the rotational speed of a rotating object into an electrical output. Speed ​​sensors are indirect measuring devices and can be manufactured using mechanical, electrical, magnetic, optical, and hybrid methods. Based on the signal form, speed sensors can be divided into analog and digital types. In this embodiment, the preferred measuring device is an encoder 6, which has high sensitivity, high reliability, long lifespan, and good shock and vibration resistance.

[0059] To increase friction and thus improve the power of pipe feeding, there are multiple drive wheels 3 and multiple driven wheels 4; the multiple drive wheels 3 and multiple driven wheels 4 are respectively located on both sides of the hose 2; at least one drive wheel 3 is connected to the motor; at least one driven wheel 4 is connected to the measuring device. Preferably, there are two drive wheels 3 and two driven wheels 4.

[0060] Preferably, a drive gear 51 is connected to the output shaft of the servo motor 5; the drive wheel 3 corresponding to the servo motor 5 includes a driven gear 31 coaxially connected; the drive gear 51 meshes with the driven gear 31, and is used by the servo motor 5 to drive the drive wheel 3 to rotate through gear transmission; an end gear 43 is coaxially connected to the driven wheel 4 corresponding to the encoder 6; the end gear 43 meshes with the speed measuring gear 62 of the encoder 6, and is used to measure the rotational speed of the driven wheel 4 through gear transmission; the encoder 6 is mounted on the pressure roller frame 41, and is used to move together with the driven wheel 4. Specifically, the encoder 6 is mounted on the encoder 6 base plate, and the encoder 6 base plate is bolted to the encoder 6 base plate mounting hole 44 on the pressure roller frame 41. It can be seen that the rotational speed measurement of the drive wheel 3 and the driven wheel 4 are both carried out through gear transmission, which can adapt to the low-speed environment during pipe feeding, and improve the measurement accuracy through gear meshing.

[0061] An exemplary sliding connection method is provided in which slide bars 411 are provided on both sides of the pressure roller frame 41; the slide bars 411 are slidably inserted into the preset slide rails on the frame body 1 for sliding connection between the pressure roller frame 41 and the frame body 1. The presence of sliding pairs on both sides makes the posture of the driven wheel 4 more stable during lifting and lowering. The slide bars 411 are bolted to the pressure roller frame 41 for easy replacement after wear. Similarly, the slide rail is a slide rail block 12 bolted to the side strip 11, and the side strip 11 is also bolted to the frame body 1; both can be replaced after damage, facilitating maintenance.

[0062] To protect the hose 2 and reduce wear, both the drive wheel 3 and the driven wheel 4 are provided with elastically deformable soft elastic layers 32 on their circumferential sides. For example, the soft elastic layer 32 is a rubber sleeve pre-installed on the wheel body; more preferably, the rubber sleeve is made of polyurethane rubber, which is elastic, wear-resistant, and has a long service life.

[0063] An exemplary drive wheel 3 also includes a central shaft 33, a rotating sleeve 34, a bearing 35, a bearing 35 retaining ring, and a long bolt 37. The central shaft 33 is used to connect to the frame 1 to provide support. The bearing 35 is mounted on the central shaft 33, and the rotating sleeve 34 is mounted on the outside of the bearing 35. The drive wheel 3 body is mounted on the outside of the rotating sleeve 34 to achieve rotation. A bearing 35 retaining ring is usually provided on one side of the bearing 35 so that when the fixing nut is tightened, the fixing nut pushes the bearing 35 retaining ring to prevent the inner ring of the bearing 35 from shifting axially. Preferably, the long bolt 37 passes through the drive wheel 3 body and the soft elastic layer 32 in sequence, and is screwed into the pre-set threaded hole of the driven gear 31 to fix the driven gear 31 and the soft elastic layer 32 to the drive wheel 3 body as a whole.

[0064] Example 2: (See reference) Figure 1-7 ;

[0065] This embodiment uses the same device as Embodiment 1, but the method of use is different. Specifically, the first threshold is that the rotational speed of the passive wheel 4 is 10% slower than that of the driving wheel 3; the second threshold is that the rotational speed of the passive wheel 4 is 30% slower than that of the driving wheel 3; and the third threshold is that the rotational speed of the passive wheel 4 is more than 60% slower than that of the driving wheel 3.

[0066] The advantages of this embodiment compared to Embodiment 1 are: (1) Since power is transmitted through friction, and the passive wheel 4 itself also has system resistance, the speed difference has a systematic error. In Example 1, the first threshold is set to 5%, which is too sensitive, resulting in a long-term low-speed cleaning state and reduced efficiency. In this example, the first threshold is set to 10%, which can overcome the systematic error and improve efficiency.

[0067] (2) When the passive wheel 4 stops rotating, the hose 2 is completely blocked, and the drive wheel 3 is completely slipping, the measures of Example 1 are then taken. However, the third threshold of Example 1 is too lagging. For cases where the nozzle 21 is not completely blocked but is moving slowly, a reciprocating impact cleaning method can also be used to clear the blockage as quickly as possible and improve efficiency. In this example, the third threshold is set to above 60%, and a reciprocating impact cleaning method can also be used for slow-moving sections, which improves the clearing efficiency.

[0068] In summary, this embodiment has higher cleaning efficiency than Embodiment 1.

[0069] The parts of this invention not described in detail are prior art; for those skilled in the art, the technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification. The scope of this invention is defined by the appended claims and their equivalents.

Claims

1. A flexible high-pressure hose driving device, comprising a frame body (1); the frame body (1) has inlets and outlets at both ends, allowing the hose (2) to pass through the frame body (1); characterized in that: The frame (1) is provided with a rotatable drive wheel (3) and a driven wheel (4). The hose (2) is clamped between the drive wheel (3) and the driven wheel (4) for moving the hose (2) by friction between the drive wheel (3) and the wall of the hose (2) when the drive wheel (3) rotates, and for rotating the driven wheel (4) by friction between the driven wheel (4) and the wall of the hose (2). The drive wheel (3) is connected to a motor, which is used to drive the drive wheel (3) to rotate and to detect the rotation speed of the drive wheel (3); The passive wheel (4) is connected to a measuring device for detecting the rotational speed of the passive wheel (4); The measuring device is electrically connected to the motor and is used to control the rotation of the drive wheel (3) based on the speed difference between the drive wheel (3) and the driven wheel (4); The passive wheel (4) is rotatably mounted on the pressure wheel frame (41); the pressure wheel frame (41) is slidably connected to the frame body (1), so that the passive wheel (4) is in a floating state; the two ends of the spring (42) are respectively supported on the pressure wheel frame (41) and the frame body (1), and are used to drive the passive wheel (4) to push the hose (2) against the drive wheel (3) by its own rebound force, so that the hose (2) is clamped between the drive wheel (3) and the passive wheel (4); When using it, the following steps are included; S1: Pass one end of the hose (2) through the frame body (1) and clamp the hose (2) between the drive wheel (3) and the driven wheel (4); then connect the end of the hose (2) to the nozzle (21). S2: Aim the nozzle (21) at the pipe to be cleaned, and connect the other end of the hose (2) to a high-pressure water source so that the nozzle (21) sprays out a high-pressure water jet. S3: Start the motor to drive the drive wheel (3) to rotate and drive the hose (2) to move, and send the nozzle (21) into the pipe at a normal pipe feeding speed, and simultaneously measure the rotation speed of the drive wheel (3); at the same time, the measuring device detects the rotation speed of the passive wheel (4); S4: Compare the rotational speed of the passive wheel (4) with the rotational speed of the driving wheel (3) to obtain the speed difference; S5: When the speed difference is greater than the preset value, control the motor to rotate and enter the sensing working mode; the sensing working mode is to take corresponding pipe delivery measures according to the size of the obstacle encountered and the size of the scab (71); The corresponding pipe feeding measures are achieved by setting a first threshold, a second threshold, and a third threshold. When the obstruction reaches the first threshold, it means that the scale (71) on the pipe wall is small and cannot block the nozzle (21) from passing through. The nozzle can proceed slowly to improve the cleaning effect on the scale (71). When the obstruction reaches the second threshold, it means that the scale (71) is large. The pipe feeding is stopped so that the nozzle (21) can clean the scale (71) for a long time. After the scale (71) is cleaned away, the nozzle can continue to move forward, thereby improving the cleaning effect. When the obstruction reaches the third threshold, it means that the scale (71) is very large and the nozzle (21) can hardly pass through directly. Continuing to feed the pipe will cause damage to the hose (2) or the nozzle (21). The hose (2) is retracted and then the nozzle is moved forward again. The reciprocating impact is used until the scale (71) is cleaned and cleared, and then the normal cleaning speed is resumed. The preset values ​​include the first threshold, the second threshold, and the third threshold, set sequentially from smallest to largest; When the speed difference is greater than the first threshold, the sensing working mode is to first decelerate so that the drive wheel (3) reduces its speed and the nozzle (21) moves forward slowly until the speed difference is less than the first threshold. Then, steps S3 to S5 are repeated to restore the normal pipe feeding speed until the cleaning of the entire pipe is completed. When the speed difference is greater than the second threshold, the sensing working mode is to first stop so that the drive wheel (3) stops rotating, and after the nozzle (21) stops for a period of time, repeat steps S3 to S5 until the cleaning of the entire pipeline is completed. When the speed difference is greater than the third threshold, the sensing working mode is to first reverse the direction so that the drive wheel (3) reverses the direction, so that the nozzle (21) moves back a certain distance and stops, and then repeat steps S3 to S5 until the cleaning of the entire pipeline is completed. The first threshold is that the rotational speed of the passive wheel (4) is 10% slower than that of the driving wheel (3); The second threshold is that the rotational speed of the passive wheel (4) is 30% slower than that of the driving wheel (3); The third threshold is that the rotational speed of the passive wheel (4) is 60% slower than that of the driving wheel (3).

2. The flexible high-pressure hose drive device according to claim 1, characterized in that: The motor is a servo motor (5); the measuring device is an encoder (6).

3. The flexible high-pressure hose drive device according to claim 2, characterized in that: There are multiple drive wheels (3) and multiple driven wheels (4); the multiple drive wheels (3) and multiple driven wheels (4) are located on both sides of the hose (2); at least one drive wheel (3) is connected to the motor; at least one driven wheel (4) is connected to the measuring device.

4. The flexible high-pressure hose drive device according to claim 3, characterized in that: There are two driving wheels (3) and two driven wheels (4).

5. The flexible high-pressure hose drive device according to claim 4, characterized in that: The servo motor (5) has a drive gear (51) connected to its output shaft; the drive wheel (3) corresponding to the servo motor (5) includes a driven gear (31) coaxially connected; the drive gear (51) meshes with the driven gear (31) and is used by the servo motor (5) to drive the drive wheel (3) to rotate through gear transmission; the driven wheel (4) corresponding to the encoder (6) has an end gear (43) coaxially connected; the end gear (43) meshes with the speed measuring gear (62) of the encoder (6) and is used to measure the rotational speed of the driven wheel (4) through gear transmission; The encoder (6) is mounted on the pressure roller frame (41) and is used to move together with the passive wheel (4).

6. The flexible high-pressure hose drive device according to claim 5, characterized in that: The pressure roller frame (41) is provided with slide bars (411) on both sides; the slide bars (411) can be slidably inserted into the preset slide rails on the frame body (1) for sliding connection between the pressure roller frame (41) and the frame body (1).

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