A straight pipe and elbow pipe semi-automatic cleaning device and system

Abstract

The application discloses a kind of straight pipe elbow semi-automatic cleaning equipment and system, it is characterized in that, including: equipment ontology, the equipment ontology is provided with multiple vibrating disk;Loading distribution mechanism, it includes: index plate, nozzle, sleeve, gun body and push rod, the index plate is set to one side of multiple vibrating disk, multiple sleeve is penetrated in the index plate, the nozzle is connected to the output end of sleeve, the gun body and the sleeve are movably connected, the push rod is movably penetrated in the gun body, multiple nozzles are respectively penetrated along axial direction and are formed with first air passage, the sleeve and gun body are enclosed and are formed with transmission space communicated with air passage.The above-mentioned setting, the cleaning operation of straight pipe elbow is realized, labor intensity is reduced, work efficiency is improved, and labor cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of pipeline cleaning technology, and in particular to a semi-automatic cleaning equipment and system for straight and curved pipes. Background Technology

[0002] Pipeline cleaning is typically done using high-pressure water jets. This method involves using a high-pressure water jet to remove and clean the dirt from the inner surface of the pipe. This technique is characterized by its speed and low cost.

[0003] However, this cleaning method requires a large amount of water, has high cleaning costs and is complex to operate. Furthermore, the cleaning of straight and curved pipes is currently done manually, which has disadvantages such as high labor intensity, low production efficiency and high error rate. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the problems of high workload, low production efficiency and high error rate in the existing technology of cleaning pipelines, thereby providing a semi-automatic cleaning equipment for straight and curved pipes.

[0005] To solve the above-mentioned technical problems, the present invention provides a semi-automatic cleaning device for straight and bent pipes, comprising:

[0006] The device body is equipped with multiple vibrating discs;

[0007] The loading and dispensing mechanism includes: an indexing plate, nozzles, sleeves, a gun body, and a push rod. The indexing plate is disposed on one side of a plurality of vibrating discs. A plurality of sleeves pass through the indexing plate. The nozzles are connected to the output ends of the sleeves. The gun body and the sleeves are movably connected. The push rod is movably inserted through the gun body. A plurality of nozzles are respectively axially inserted to form a first air passage. The sleeves and the gun body enclose a transmission space communicating with the air passages. A compressed gas device communicating with the transmission space is externally connected to the gun body. The push rod and the first air passages are movably disposed. The indexing plate is rotatably mounted on the equipment body.

[0008] In one embodiment of the present invention, a sleeve clamping mechanism is further included. The clamping mechanism includes: a first clamping assembly, a second clamping assembly, a first telescopic drive member and a second telescopic drive member. The first clamping assembly and the second clamping assembly are respectively disposed on both sides of the sleeve. The power output end of the first telescopic drive member is connected to the first clamping assembly, and the second telescopic drive member and the second clamping assembly are connected.

[0009] In one embodiment of the present invention, a gun body pushing mechanism is further included, which is configured to drive the gun body to move closer to or away from the sleeve. The mechanism includes: a support body, a movable frame, and a third telescopic drive member. The support body is disposed on the device body along the axis of the second air passage. The movable frame is movably connected to the support body. The third telescopic drive member is disposed on the movable frame and its output end is connected to the device body.

[0010] In one embodiment of the invention, a projectile removal device is further included, comprising a clamp and a robotic arm, the clamp being used to grip the projectile and the robotic arm being used to transfer the projectile for cleaning from the output end of the vibratory feeder to the sleeve.

[0011] In one embodiment of the present invention, the cannula includes: a cannula body, a second air passage, a placement platform, a guide groove, and a clearance groove. The cannula body forms a second air passage that communicates with the first air passage. The placement platform is located at the end of the cannula body away from the nozzle. The guide groove is formed on the placement platform and communicates with the second air passage.

[0012] In one embodiment of the present invention, a push rod pushing mechanism is further included, comprising: a drive screw, a screw, a screw pair, a slider, and a first servo motor. The drive screw is rotatably mounted on the movable frame, the screw pair is engaged with the drive screw, the slider is connected to the screw pair, and the power output shaft of the first servo motor is connected to the drive screw.

[0013] In one embodiment of the present invention, the indexing plate is further provided with a fixing mechanism, the fixing mechanism including: a fixing frame disposed on the side of the indexing plate near the nozzle, a buckle disposed on the fixing frame, and a nozzle passing through the buckle, one end of the pipe to be cleaned can pass through the fixing frame and be sleeved on the nozzle, and the buckle can fix the other end of the pipe to be cleaned.

[0014] In one embodiment of the present invention, a rotation drive mechanism is further included, the rotation mechanism further including a cam divider and an indexing plate drive, the input end of the cam divider being connected to the output end of the indexing plate drive, and the output end of the cam divider being connected to the indexing plate.

[0015] In one embodiment of the present invention, the gun body is fitted with a sealing sleeve, the push rod is slidably inserted through the inner ring of the sealing sleeve, and a protruding ring is provided on the side of the sleeve near the gun body, and the gun body can seal against the protruding ring.

[0016] The present invention also discloses a pipeline cleaning system, which uses the above-mentioned semi-automatic straight and curved pipe cleaning equipment to clean the pipeline.

[0017] The technical solution of the present invention has the following advantages compared with the prior art:

[0018] The pipeline cleaning equipment described in this invention realizes the automatic storage, sorting, and automatic conveying of soft materials such as cleaning projectiles; it realizes the automatic clamping and loading of cleaning projectiles; it supports pipelines of various specifications through multiple sets of vibrating plates of different sizes; it realizes cleaning operations for straight and curved pipes, reduces labor intensity, improves work efficiency, and reduces labor costs. Attached Figure Description

[0019] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0020] Figure 1 This is a perspective view of the cleaning equipment of the present invention.

[0021] Figure 2 This is a schematic diagram of the gun body pushing mechanism of the present invention.

[0022] Figure 3 This is the present invention. Figure 2 A sectional view.

[0023] Figure 4 This is a perspective view of the fixing and clamping mechanism of the present invention.

[0024] Figure 5 This is a perspective view of the rotation drive mechanism of the present invention.

[0025] Figure 6 This is a cross-sectional view of the connection between the sleeve and the nozzle of the present invention.

[0026] Figure 7 This is a perspective view of the indexing plate and fixing mechanism of the present invention.

[0027] Figure 8 This is the present invention. Figure 7 A sectional view.

[0028] Figure 9 This is a schematic diagram of the fixing mechanism of the present invention.

[0029] Explanation of reference numerals in the accompanying drawings: 1. Equipment body; 2. Indexing plate; 3. Gun body pushing mechanism; 31. Movable frame; 32. Support body; 33. Third telescopic drive component; 34. Placement platform; 35. Gun body; 36. Sealing sleeve; 37. Transmission space; 371. Clearance groove; 372. Limiting groove; 373. Guide groove; 374. Second air passage; 4. Robotic arm; 5. Vibratory feeder; 6. Clamp; 7. Touch screen; 8. Opening groove; 9. Push rod pushing mechanism; 91. First servo motor; 92. Push rod; 93. Drive... 94. Lead screw; 10. Interface; 11. Gantry frame; 11. Sleeve clamping mechanism; 111. First telescopic drive component; 112. First clamping assembly; 113. Second telescopic drive component; 112. Second clamping assembly; 12. Second servo motor; 13. Cam divider; 14. Sleeve; 15. Convex ring; 16. Nozzle; 17. Convex ring; 18. First air passage; 19. Fixing mechanism; 191. Fixing bracket; 192. Buckle; 193. Adjusting screw; 194. Nozzle head; 195. Frame through hole; 20. Display screen. Detailed Implementation

[0030] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0031] Example 1

[0032] Reference Figure 1-9 As shown, a semi-automatic cleaning device for straight and bent pipes according to the present invention includes:

[0033] The device body 1 is provided with multiple vibratory feeders 5;

[0034] The loading and dispensing mechanism includes: a dividing plate 2, a nozzle 16, a sleeve 14, a gun body 35, and a push rod 92. The dividing plate 2 is disposed on one side of the plurality of vibrating plates 5. The plurality of sleeves 14 pass through the dividing plate 2. The nozzle 16 is connected to the output end of the sleeve 14. The gun body 35 and the sleeve 14 are movably connected. The push rod 92 is movably inserted through the gun body 35. The plurality of nozzles 16 respectively form a first air passage 18 through the axial direction. The sleeve 14 and the gun body 35 enclose a transmission space 37 communicating with the air passage. A compressed gas device communicating with the transmission space 37 is connected to the outside of the gun body 35. The push rod 92 and the first air passage 18 are movably disposed. The dividing plate 2 is rotatably mounted on the equipment body 1.

[0035] The present invention discloses a semi-automatic cleaning device for straight and curved pipes. During the cleaning process of straight or flexible pipes, multiple vibrating plates 5 are used to sort and arrange projectiles of different sizes, so that the projectile material is transferred to the output end of the vibrating plate 5. After determining the size of the pipe to be cleaned, the indexing plate 2 is rotated to the corresponding position of the gun body 35, and the pipe to be cleaned and the nozzle 16 are fitted and connected. The projectile is picked up and placed at the input end of the sleeve 14. The push rod 92 pushes the projectile to the transmission space 37 connected to the first air channel 18, and then drives the gun body 35 to approach the sleeve 14, so that the gun body 35 and the sleeve 14 enclose the transmission space 37. The external compressed gas is introduced into the transmission space 37 through the interface 94 of the gun body 35. The compressed gas pushes the projectile to move quickly, so that the projectile is launched from the output end of the nozzle 16 through the first air channel 18. The projectile enters the pipe to be cleaned from the nozzle 16 and quickly passes through the pipe to clean the inner wall of the pipe.

[0036] The projectile is made of polyurethane sponge material and is cylindrical in shape. The size of the projectile is larger than the inner wall of the corresponding pipe so that it can elastically deform to fit the inner diameter of the pipe when passing through it. The projectile also has a squeezing effect on the inner wall of the pipe to be cleaned, which improves the cleaning effect when passing through. Of course, the size of the projectile is slightly larger than the corresponding pipe to be cleaned to avoid excessive resistance and blockage. Based on this, the diameter of the projectile body gradually decreases along the firing direction. For example, the end of the projectile can be conical, hemispherical, ellipsoidal, or have rounded corners to reduce penetration resistance and facilitate guidance when the projectile enters the air passage in the sleeve 14, thereby increasing the loading speed.

[0037] The sponge projectile is a dry cleaning agent capable of passing through complex, multi-bend pipes such as 90-degree, T-shaped, ring-shaped, U-shaped, and serpentine pipes. It effectively removes water, silt, impurities from the pipe walls, and residual impurities from inside the pipes. In some embodiments of the invention, the projectile can also be impregnated with liquid to improve the cleaning effect. The impregnating liquid is preferably a highly volatile cleaning agent to avoid cleaning agent residue. In other embodiments, the impregnating liquid can be a protective liquid or rust inhibitor for the pipes, so that the projectile material forms a protective coating or protective coating on the inner wall of the pipes when it passes through them.

[0038] See Figure 1 As shown, the output end of the vibratory feeder 5 is equipped with a photoelectric sensor. If the photoelectric sensor detects that there is a cleaning projectile at the clamping station, the vibratory feeder 5 will automatically stop working. After each projectile is clamped and removed, the vibratory feeder 5 will start again to push the next material to the clamping station until it is removed again and the material is replenished.

[0039] The launch of the projectile is controlled by a foot switch. The operator steps on the foot switch to open the air passage, thereby launching the projectile.

[0040] See Figure 4As shown, it also includes a sleeve clamping mechanism 11, which includes: a first clamping assembly 112, a second clamping assembly 112, a first telescopic drive member 111, and a second telescopic drive member 113. The first clamping assembly 112 and the second clamping assembly 112 are respectively disposed on both sides of the sleeve 14. The power output end of the first telescopic drive member 111 is connected to the first clamping assembly 112, and the second telescopic drive member 113 is connected to the second clamping assembly 112. When the first telescopic drive member 111 and the second telescopic drive member 113 are activated, the first clamping assembly 112 and the second clamping assembly 112 are driven to move closer together. The first clamping assembly 112 and the second clamping assembly 112 clamp the sleeve 14 to form a fixed and limited position, preventing the sleeve 14 from displacing.

[0041] See Figure 2 , Figure 4 As shown, in order to avoid obstructing the clamping mechanism, the table surface of the equipment body 1 is provided with an opening groove 8 adapted to the sleeve 14. At the same time, the clamping mechanism is also set to clamp from the top and bottom. Specifically, the first telescopic drive member 111 and the first clamping assembly 112 constitute the upper clamping assembly, and the second telescopic drive member 113 and the second clamping assembly 112 constitute the lower clamping assembly. The equipment body 1 is provided with a gantry frame 10. The upper clamping assembly and the lower clamping assembly are respectively set on the gantry frame 10 and the equipment body 1. When the indexing plate 2 rotates, the upper clamping assembly and the lower clamping assembly retract and reset to avoid obstructing the sleeve 14 on the indexing plate 2. When clamping the sleeve 14, the upper and lower clamping assemblies move closer to each other to clamp the sleeve 14.

[0042] In some embodiments of the present invention, the compressed gas entering the transmission space 37 increases the internal air pressure, especially at the moment the air passage is opened. The transmission space 37 is impacted by the high-pressure gas, causing the gun body 35 to tend to move away from the sleeve 14. Therefore, the first clamping kit 112 and the second clamping kit 112 are configured to simultaneously clamp the sleeve 14 and the gun body 35. The main body of the gun body 35 is cylindrical. The first clamping kit 112 and the second clamping kit 112 are provided with semi-circular grooves corresponding to the shape of the gun body 35 on the side near the gun body 35, thereby improving the clamping effect and preventing the gun body 35 from radially displacing. In order to further improve the sealing effect, the first clamping kit 112 and the second clamping kit 112 are also embedded with sealing rings. The structure of the first clamping kit 112 and the second clamping kit 112 is also provided with sealing mechanisms, such as staggered inserts forming a sealing seal. The clamping kit can form a seal at the interface 94 between the sleeve 14 and the gun body 35.

[0043] See Figure 1As shown, the projectiles are picked up and placed into the sleeve 14 manually or by a robotic arm. In this embodiment, the robotic arm method is preferred. Therefore, the pipeline cleaning equipment also includes a projectile transfer device, which includes a clamp 6 and a robotic arm 4. The clamp 6 is used to clamp the projectiles, and the robotic arm 4 is used to transfer the projectiles to be cleaned from the output end of the vibratory plate 5 to the sleeve 14. This improves the automation level of the equipment, increases the placement accuracy and efficiency, and avoids the problem of manual handling being easily injured by the gun body 35 and the sleeve 14. The robotic arm 4 is a six-axis robotic arm that can perform six degrees of freedom of movement: X movement, Y movement, Z movement, X rotation, Y rotation, and Z rotation. It clamps, transfers, and accurately places each projectile from the corresponding vibratory plate 5 onto the placement platform 34 of the corresponding sleeve 14.

[0044] See Figure 6 As shown, the sleeve 14 includes: a sleeve 14 body, a second air passage 374, a placement platform 34, a guide groove 373, and a clearance groove 371. The sleeve 14 body forms a second air passage 374 that communicates with the first air passage 18. The placement platform 34 is located at the end of the sleeve 14 body away from the nozzle 16. The guide groove 373 is formed on the placement platform 34 and communicates with the second air passage 374. The clearance groove 371 is adapted to the clamp 6. The placement platform 34 has a platform structure. The projectile is placed on the placement platform 34 by clamp 6 and robotic arm. Clamp 6 is a gripper structure that gradually narrows towards the tip. The gripper is avoided by the clearance groove 371. The robotic arm moves clamp 6 into clearance groove 371 and the projectile is coaxially aligned with guide groove 373. Guide groove 373 is an open cylindrical groove with the top flush with the placement platform 34. Clamp 6 is released and withdrawn. Then, the projectile is pushed from clearance groove 371 through guide groove 373 into the second air passage 374 by push rod 92.

[0045] Please continue reading Figure 6 As shown, the gun body 35 is mounted on the placement platform 34. The gun body 35, the placement platform 34, and the adjacent sleeve 14 enclose a transmission space 37. The transmission space 37 includes a guide groove 373, a clearance groove 371, and a second air passage 374. It also includes a limiting groove 372. The limiting groove 372 and the clearance groove 371 are connected. The limiting groove 372 is located at the end of the placement platform 34, coaxial with the guide groove 373, and has the same size. When the push rod 92 pushes the projectile, it will first pass through the limiting groove 372 for limiting, thereby improving the accuracy of the push rod 92.

[0046] See Figure 2 , Figure 3As shown, it also includes a gun body pushing mechanism 3, which is configured to drive the gun body 35 to approach or move away from the sleeve 14. It includes: a support body 32, a movable frame 31, and a third telescopic drive member 33. The support body 32 is arranged on the device body 1 along the axis of the second air passage 374. The movable frame 31 is movably connected to the support body 32. The third telescopic drive member 33 is arranged on the movable frame 31 and its output end is connected to the device body 1. When the third telescopic drive member 33 is activated, the movable frame 31 is driven to slide along the support body 32. The support body 32 is arranged along the direction of the line connecting the gun body 35 and the sleeve 14, thereby driving the movable frame 31 and the gun body 35 to approach the sleeve 14, so that the end of the gun body 35 is sleeved on the outer periphery of the placement platform 34 and docks with the sleeve 14 to form a sealed transmission space 37.

[0047] See Figures 7-9 As shown, the indexing plate 2 is also provided with a fixing mechanism 19. The fixing mechanism 19 includes: a fixing frame 191 disposed on the side of the indexing plate 2 near the nozzle 16, a buckle 192 disposed on the fixing frame 191, and a nozzle 194 passing through the buckle 192. One end of the pipe to be cleaned can pass through the fixing frame 191 and be fitted onto the nozzle 16. The buckle 192 can fix the other end of the pipe to be cleaned. The fixing frame 191 is divided into two layers. The first layer of the fixing frame 191 is fixed to the indexing plate 2, and the nozzle 16 passes through the first layer of the fixing frame 191. The second layer of the fixing frame 191 has a frame through hole 195, and a buckle 192 is provided on one side of the second layer. One end of the pipe to be cleaned passes through... The second layer's through hole connects to the nozzle 16. The other end of the pipe to be cleaned is snapped into the clip 192 and connects to the gun head 194. The clip 192 is adjustable and can fix gun heads 194 of different sizes. Specifically, the clip 192 is divided into two parts. The first part is fixed to the second layer of the fixing frame 191, and the second part is movable and can move closer to or away from the first part. A slot for the gun head 194 is provided between the first and second parts. The sleeve 14 passes through the slot for the gun head 194 and the second layer of the fixing frame 191. The second part is threaded with an adjusting screw 193 to the first part. The screw does not pass through the slot for the gun head 194. By rotating the adjusting screw 193, the second part moves closer to or away from the first part, thereby locking the gun head 194.

[0048] The gun head 194 has a hollow structure. After the projectile passes through the pipe to be cleaned, it is finally fired out of the gun head 194. In some embodiments of the present invention, a storage box or storage net bag is provided on the fixing frame 191 corresponding to the position of the gun head 194. The projectile fired from the gun head 194 falls into the storage box or storage net bag, and the projectile is collected in a concentrated manner to prevent it from falling to the ground. The storage box or storage net bag is connected to the indexing plate 2 through a rotating shaft perpendicular to the indexing plate 2. When the indexing plate 2 rotates, the rotating shaft is rotatably connected to the indexing plate 2 through a bearing, so that the opening of the storage box or storage net bag always faces upward.

[0049] See Figure 5 As shown, it also includes a rotation drive mechanism, which further includes a cam divider 13 and an indexing disk 2 drive. The input end of the cam divider 13 is connected to the output end of the indexing disk 2 drive, and the output end of the cam divider 13 is connected to the indexing disk 2. The indexing disk 2 drive and the cam divider 13 are mounted on the equipment body 1. The cam divider 13 is driven by the indexing disk 2 drive, and the indexing disk 2 is rotated by the cam divider 13. The indexing disk 2 drive is a second servo motor 12. The indexing disk 2 can rotate clockwise or counterclockwise. In some embodiments, the number of vibrating disk 5, nozzle 16, and sleeve 14 is eight respectively. The indexing disk 2 is configured to rotate in a stepping manner, and the stepping rotation angle is 22.5°.

[0050] See Figure 5 As shown, the gun body 35 is fitted with a sealing sleeve 36, and the push rod 92 is slidably inserted through the inner ring of the sealing sleeve 36. A convex ring 15 is provided on the side of the sleeve 14 near the gun body 35, and the gun body 35 can seal against the convex ring 15. The sealing sleeve 36 is provided at the end of the gun body 35 away from the sleeve 14, and the push rod 92 is slidably sealed by the sealing sleeve 36. A convex ring 15 is provided on the side of the sleeve 14 near the gun body 35, and a flange-type sealing structure is formed by the convex ring 15 and the gun body 35. A sealing convex ring 17 or a sealing gasket is provided on the side of the convex ring 15 or the side of the gun body 35 near the convex ring 15. The sealing convex ring 17 or the sealing ring is arranged around the opening of the transmission space 37, thereby improving the sealing degree when the gun body 35 and the sleeve 14 are connected.

[0051] See Figure 1 , Figure 7 As shown, in this embodiment, the indexing plate 2 is provided with eight fixing mechanisms 19 and sleeves 14. The eight sleeves 14 are respectively connected to nozzles 16. The eight sleeves 14 and nozzles 16 are of different sizes, corresponding to eight specifications of pipes to be cleaned. The sizes of the first air passage 18 and the second air passage 374 inside each sleeve 14 and nozzle 16 are also respectively set to adapt to eight different projectile materials. When cleaning a pipe of the corresponding size, the indexing plate 2 is rotated so that the sleeve 14 of the corresponding size is located in the working area, that is, the side of the gun body 35. When it is necessary to switch the size of the pipe to be cleaned, the indexing plate 2 is rotated again so that the next sleeve 14 of the corresponding size is moved to the working area.

[0052] Example 2

[0053] This embodiment also discloses a pipeline cleaning system, which includes the semi-automatic cleaning equipment for straight and curved pipes described in Embodiment 1.

[0054] See Figures 1-9As shown, the pipeline cleaning system described in this embodiment also includes a controller and a drive control system. The controller includes a laser barcode reader, a display screen 20, and a controller. The laser barcode reader and the display screen 20 are electrically connected to the controller. The controller can wirelessly connect to the laser barcode reader or a sensor to wirelessly receive, store, and process the data from the laser barcode reader and the sensor, and output the data to the display screen 20. The interface displayed on the tool display screen 20 selects a cleaning mode, such as 1+1, 2+1, 3+1, etc. The combination means the number of cleaning projectiles plus the number of air purgings. The above formulas represent one, two, and the previous projectile cleaning, respectively, with an additional air purging after each projectile cleaning. The air purging thoroughly cleans the remaining impurities. The display screen 20 is an operable display screen 20, which is configured as a touch screen 7 or has a keyboard, buttons, and other control components. The display screen is also electrically connected to an independent graphics card to improve the processing speed, increase the resolution of the display screen 20, and increase the screen refresh rate.

[0055] The control and drive system includes a first servo motor 91, a second servo motor 12, a first telescopic drive component 111, a second telescopic drive component 113, a third telescopic drive component 33, sensors, and other mechanical components. It sends control commands to the robot drive and control integrated machine to complete the actions and movements of each component, and finally realize the function settings of the equipment. The robot's travel route and running trajectory have been planned and programmed in advance by the teach pendant based on the position of the vibratory plate 5 and the corresponding clamping station. After receiving the information command, the robot directly goes to the relevant position to clamp the material.

[0056] In this system, a pipe manipulator is also provided for clamping the pipe to be cleaned. The pipe manipulator connects the two ends of the pipe to the nozzle 16 and the gun head 194 respectively.

[0057] The system described in this embodiment includes the following steps in its operation:

[0058] Step S1: Automatic storage and sorting system for cleaning projectiles: According to the equipment function settings, the placement position of the vibratory feeder 5 and the number of cleaning projectiles to be stored, eight different calibers and lengths of cleaning projectiles are placed into eight vibratory feeders 5. The vibratory feeders 5 will automatically start to automatically sort and effectively move the cleaning projectiles, and gradually push the cleaning projectiles to the material clamping station according to the travel guide groove. When the photoelectric sensor detects that there is a cleaning projectile at the clamping station, the vibratory feeder 5 will automatically stop working. Whenever a material is clamped and removed, the vibratory feeder 5 will start again to push the next material to the clamping station, until it is removed again and replenished.

[0059] Step S2: Automatic clamping and loading system for cleaning projectiles: When the processed straight and curved pipes enter the work area, after the information on the workpiece is read by the laser barcode scanner, the six-axis robot will automatically reach the corresponding vibratory feeder 5 material clamping station according to the control instructions, clamp and take away the cleaning projectiles and move to the loading station to put the projectiles into the gun body 35. At the same time, according to the selected cleaning mode, the clamping and loading of the second and third cleaning projectiles will be completed. As each cleaning projectile is put in, the gun body 35 will automatically close. Then, the operator will launch the projectiles by controlling the foot pedal. The system will automatically count each time a projectile is loaded and launched.

[0060] Step S3: Automatic matching and distribution system for nozzle 16 and sleeve 14: When the processed straight and bent pipes enter the work area, the operator reads the information on the workpiece through the laser barcode scanner. The cam divider 13 will drive the indexing plate 2, nozzle 16 and sleeve 14, handheld gun body 35, and eight sets of hoses to rotate together to the designated station according to the control command. The upper and lower clamping fixtures will then fix the station. After that, the clamping and loading system will automatically put the first, second, and third projectiles into the gun body 35 respectively. The gun body 35 will also automatically close as the projectiles are put in. The operator will then fire the projectiles by controlling the foot pedal.

[0061] Step S4: Automatic workpiece information reading and storage system: Based on the equipment function design and relevant component configuration, the system will use a laser barcode scanner to read and upload workpiece information, then use an industrial controller to store and calculate the relevant information, and finally use self-developed software tools and database system to project the information onto the industrial display screen 20. At this time, the corresponding cleaning mode can be selected according to the process requirements. The first data is the number of projectile cleanings, and the second data is the number of air purgings. The selection and completion of each mode will be saved and recorded in the system.

[0062] Step S5: Overall Automatic Drive Control System: Based on the equipment's functional design and the configuration of relevant components, the system will use a PLC programmable controller to control and position the motion of multiple servo motors, pneumatic components, sensors, and mechanical components, and send control commands to the robot drive control unit to complete the actions and movements of each component, ultimately realizing the equipment's functional settings. The robot's travel route and trajectory have been planned and programmed in advance by the teach pendant based on the position of the vibrating plate 5 and the corresponding clamping station. After receiving the information command, the robot will directly go to the relevant position to clamp the material.

[0063] In step S4, the cleaning mode includes several rounds of projectile cleaning plus one air purge. The number of projectile cleaning rounds is at least one, but can also be two, three, or more. In this embodiment, three rounds are preferred.

[0064] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A semi-automatic cleaning device for straight and bent pipes, characterized in that, include: The device body is equipped with multiple vibrating discs; A loading and dispensing mechanism includes: an indexing plate, nozzles, sleeves, a gun body, and a push rod. The indexing plate is disposed on one side of a plurality of vibrating discs. A plurality of sleeves pass through the indexing plate. The nozzles are connected to the output ends of the sleeves. The gun body and the sleeves are movably connected. The push rod is movably inserted through the gun body. A plurality of nozzles are respectively axially inserted to form a first air passage. The sleeves and the gun body enclose a transmission space communicating with the first air passages. A compressed gas device communicating with the transmission space is externally connected to the gun body. The push rod and the first air passages are movably disposed. The indexing plate is rotatably mounted on the equipment body. The mechanism also includes a sleeve clamping mechanism, comprising: a first clamping assembly, a second clamping assembly, a first telescopic drive member, and a second telescopic drive member. The first clamping assembly and the second clamping assembly are respectively disposed on both sides of the sleeve. The power output end of the first telescopic drive member is connected to the first clamping assembly, and the second telescopic drive member is connected to the second clamping assembly. It also includes a gun body pushing mechanism, which is configured to drive the gun body to move closer to or away from the sleeve. This mechanism includes: a support body, a movable frame, and a third telescopic drive component. The support body is disposed on the device body along the axis of the second air passage. The movable frame is movably connected to the support body. The third telescopic drive component is disposed on the movable frame and its output end is connected to the device body. The sleeve includes: a sleeve body, a second air passage, a placement platform, a guide groove, and a clearance groove. The sleeve body forms a second air passage that communicates with the first air passage. The placement platform is disposed at the end of the sleeve body away from the nozzle. The guide groove is formed on the placement platform and communicates with the second air passage. The gun body is fitted onto the placement platform. The gun body, placement platform, and adjacent sleeves enclose the transmission space, which includes the guide groove, the clearance groove, and the second air passage, as well as a limiting groove. The limiting groove and the clearance groove are connected and are located at the end of the placement platform, coaxial with the guide groove and of the same size. When the push rod pushes the projectile, it first passes through the limiting groove for limitation. The first telescopic drive and the first clamping assembly constitute the upper clamping assembly, and the second telescopic drive and the second clamping assembly constitute the lower clamping assembly. The equipment body is equipped with a gantry frame. The upper clamping assembly and the lower clamping assembly are respectively mounted on the gantry frame and the equipment body. When the indexing plate rotates, the upper clamping assembly and the lower clamping assembly retract and reset. When clamping the sleeve, the upper and lower clamping assemblies move closer to each other to clamp the sleeve. The first clamping assembly and the second clamping assembly are configured to clamp the sleeve and the gun body simultaneously. The main body of the gun body is cylindrical, and the first clamping assembly and the second clamping assembly have semi-circular grooves corresponding to the shape of the gun body on the side near the gun body.

2. The semi-automatic cleaning equipment for straight and bent pipes according to claim 1, characterized in that: It also includes a projectile removal device, which includes a clamp and a robotic arm, the clamp being used to grip the projectile and the robotic arm being used to transfer the projectile for cleaning from the output end of the vibratory feeder to the sleeve.

3. The semi-automatic cleaning equipment for straight and bent pipes according to claim 1, characterized in that: It also includes a push rod pushing mechanism, which includes: a drive screw, a screw pair, a slider and a first servo motor. The drive screw is rotatably mounted on the movable frame, the screw pair is engaged with the drive screw, the slider is connected to the screw pair, and the power output shaft of the first servo motor is connected to the drive screw.

4. The semi-automatic cleaning equipment for straight and bent pipes according to claim 1, characterized in that: The indexing plate is also provided with a fixing mechanism, which includes: a fixing frame disposed on the side of the indexing plate near the nozzle, a buckle disposed on the fixing frame, and a nozzle passing through the buckle. One end of the pipe to be cleaned can pass through the fixing frame and be fitted onto the nozzle, and the buckle can fix the other end of the pipe to be cleaned.

5. A semi-automatic cleaning device for straight and bent pipes according to claim 1, characterized in that: It also includes a rotation drive mechanism, which further includes a cam divider and an indexing plate drive. The input end of the cam divider is connected to the output end of the indexing plate drive, and the output end of the cam divider is connected to the indexing plate.

6. The semi-automatic cleaning equipment for straight and bent pipes according to claim 1, characterized in that: The gun body is fitted with a sealing sleeve, and the push rod is slidably inserted through the inner ring of the sealing sleeve. A protruding ring is provided on the side of the sleeve near the gun body, and the gun body can seal against the protruding ring.

7. A pipe cleaning system, characterized in that, It includes the semi-automatic cleaning equipment for straight and bent pipes as described in any one of claims 1-6.

Images