Automatic cleaning device and method suitable for dense pipe holes

Abstract

The invention provides an automatic cleaning device and method suitable for dense pipe holes. The automatic cleaning device structurally comprises an outer frame, a workpiece clamp and a three-degree-of-freedom truss cleaning mechanism, wherein the workpiece clamp and the three-degree-of-freedom truss cleaning mechanism are arranged in the outer frame; the workpiece clamp is used for containing and fixing a to-be-cleaned workpiece provided with dense pipe holes. The three-degree-of-freedom truss cleaning mechanism cleans all pipe holes of the workpiece to be cleaned through three-degree-of-freedom movement in the vertical direction, the horizontal direction and the pipe hole depth direction. According to the automatic cleaning device, accurate perpendicularity guarantee is provided, the machining precision and efficiency are improved, the three-degree-of-freedom truss equipment is provided with an intelligent visual positioning system, all hole sites in a workpiece can be automatically recognized and positioned, it is ensured that no omission exists in the cleaning process, accurate cleaning of each hole site of the workpiece is achieved, and the machining efficiency is improved. And the efficiency and the quality of cleaning operation are greatly improved.

Description

Technical Field

[0001] The invention relates to the field of automatic cleaning equipment, in particular to an automatic cleaning device and method suitable for dense pipe holes. Background Art

[0002] Tube sheet is a round steel plate with holes slightly larger than the outer diameter of the tube. It is a round steel that plays the role of fixing the tube and sealing the medium in the heat exchanger. It is a kind of accessory that inserts the tube and fixes it by welding.

[0003] The tube sheet is an important component of the steam generator. A tube hole slightly larger than the outer diameter of the heat exchange tube is drilled on it. After the heat exchange tube is inserted into the tube hole, it is expanded and welded to fix and separate the primary and secondary sides of the steam generator. The thickness of the tube sheet of the steam generator varies from 400 to 1000mm depending on the reactor type, and the outer diameter of the tube sheet varies from 3000 to 4500mm. The number of tube holes varies from thousands to tens of thousands depending on the size of the tube sheet and the diameter of the heat exchange tube. The tube holes on the steam generator tube sheet are all slender holes, that is, the ratio of hole depth to hole diameter is greater than 30. Therefore, the tube holes on the tube sheet highlight the characteristics of large number, small diameter and large depth.

[0004] After the deep hole processing of the tube sheet is completed, in order to meet the expansion and welding quality of the heat exchange tube, the cleanliness of the inner wall and end face of the tube hole is extremely high, and the residue of impurities such as cutting oil and iron filings during the deep hole processing is not allowed. The traditional method of cleaning the tube holes of the tube sheet is manual wiping, which is not only time-consuming and labor-intensive, but also prone to leaking the tube holes. In addition, since the tube holes are too small, the cleaning effect is not ideal.

[0005] Therefore, how to efficiently clean the dense tube holes on the steam generator tube sheet and meet the cleanliness requirements has become a difficult problem in the tube sheet manufacturing process. Summary of the invention

[0006] In view of the above-mentioned shortcomings of the prior art, the present invention provides an automatic cleaning device and method suitable for dense tube holes, which are used to solve the technical problem of how to complete the efficient cleaning of dense tube holes on the steam generator tube plate and meet the cleanliness requirements in the prior art.

[0007] To achieve the above-mentioned purpose, the first aspect of the present invention provides an automatic cleaning device suitable for dense tube holes, comprising: an external frame (1) and a workpiece fixture (2) arranged in the external frame (1), and a three-degree-of-freedom truss cleaning mechanism (3); the workpiece fixture (2) is used to accommodate and fix a workpiece to be cleaned (21) with dense tube holes; the three-degree-of-freedom truss cleaning mechanism (3) cleans all the tube holes of the workpiece to be cleaned (21) by moving in three degrees of freedom in the vertical, horizontal and tube hole depth directions.

[0008] In some embodiments of the first aspect of the present application, the external frame (1) includes a plurality of frame beams (12) and a baffle housing (13) fixedly connected to the frame beams (12); an observation window (14) is provided on the baffle housing (13) on the front side of the automatic cleaning device.

[0009] In some embodiments of the first aspect of the present application, the external frame (1) further comprises a plurality of lifting ears (11) arranged on the top frame beam (12), a plurality of footings (15) arranged on the bottom frame beam (12), a monitoring camera (16) arranged on the top surface of the device and facing the inside of the device, and a baffle housing (13) on the side of the automatic cleaning device is provided with an openable and closable workstation door (17).

[0010] In some embodiments of the first aspect of the present application, the workpiece fixture (2) comprises: a fixture reference member (22), a pin shaft (23), a workpiece fixing frame (24), a fixture locking member (25), and a bolt (26); the workpiece fixing frame (24) is provided with an inner groove for accommodating the workpiece (21) to be cleaned; one side of the workpiece fixing frame (24) is connected to the fixture reference member (22) through the pin shaft (23) to position the workpiece (21) to be cleaned in the inner groove; the other side of the workpiece fixing frame (24) is connected to the fixture locking member (25) through a plurality of bolts (26), and the workpiece (21) to be cleaned is fixed by the pre-tightening force of the bolts (26).

[0011] In some embodiments of the first aspect of the present application, the three-degree-of-freedom truss cleaning mechanism (3) comprises: a worm gear reducer (31), a horizontal and vertical motion mechanism (32), a workpiece cleaning mechanism (33), an external frame (34), a screw mechanism (35), and a drag chain mechanism (36); the worm gear reducer (31) is arranged on the external frame (34), the worm gear reducer (31) is connected to the screw mechanism (35), and the screw mechanism (35) is connected to the horizontal and vertical motion mechanism (32); the workpiece cleaning mechanism (33) is arranged on the horizontal and vertical motion mechanism (32) and is connected to the drag chain mechanism (36); the worm gear reducer (31) drives the screw mechanism (35) and drives the horizontal and vertical motion mechanism (32) to perform vertical motion, so that the workpiece cleaning mechanism (33) performs vertical motion; the drag chain mechanism (36) and the workpiece cleaning mechanism (33) are driven to perform horizontal motion.

[0012] In some embodiments of the first aspect of the present application, the horizontal and vertical motion mechanism includes a movable slider (321), a movable slide rail (322), and a slide rail steel frame (323); the drag chain mechanism (36) includes a drag chain (361) and a drag chain groove (362); the screw mechanism (35) includes a screw shaft (351) and a nut seat (352); the slide rail steel frame (323) is fixedly connected to the nut seat (352) of the screw mechanism (35); the slide rail steel frame (323) is fixedly connected to the nut seat (352) of the screw mechanism (35); The female seat (352) is provided with a movable slide rail (322) in the horizontal direction on the slide rail steel frame (323), the movable slider (321) is slidably arranged in the movable slide rail (322), the driving motor (325) is connected to the movable slider (321), the drag chain (361) is connected to the movable slider (321) through the drag chain connecting shaft (363), and is installed in the drag chain groove (362), and the gear rack mechanism (324) is driven by the driving motor (325) to drive the drag chain (361) and the movable slider (321) to move.

[0013] In some embodiments of the first aspect of the present application, the workpiece cleaning mechanism (33) includes: a cleaning unit tool (331), a tool head (332), a vision module (333), and a linear drive electric cylinder module (334); the linear drive electric cylinder module (334) is installed on the movable slider (321); the linear drive electric cylinder module (334) is provided with a track along the depth direction of the pipe hole, and the cleaning unit tool (331) is slidably arranged in the track; the cleaning unit tool (331) is provided with a replaceable tool head (332) facing the pipe hole; the cleaning unit tool (331) is also provided with a vision module (333) facing the pipe hole.

[0014] In some embodiments of the first aspect of the present application, the replaceable tool head (332) includes: a ball head file (332A), a cleaning nozzle (332B), and an automatic bolt tightening machine (332C); the ball head file (332A) is used to remove burrs around the pipe hole and perform chamfering; the cleaning nozzle (332B) is used to clean the pipe hole; the automatic bolt tightening machine (332C) is used to automatically tighten bolts.

[0015] To achieve the above-mentioned purpose, the second aspect of the present invention provides an automatic cleaning method suitable for dense pipe holes, comprising: hoisting the workpiece (21) to be cleaned above the cleaning device and accurately placing it above the workpiece fixing frame (24); the workpiece (21) to be cleaned is hoisted and lowered to align with the inner groove of the workpiece fixing frame (24); after aligning and placing it into the inner groove, first use the clamp reference part (22) and the pin shaft (23) to fix the workpiece (21) to be cleaned on the workpiece fixing frame (24), and then use the clamp locking part (25) and the bolt (26) to apply a certain pre-tightening force to the workpiece (21) to be cleaned; start the three-degree-of-freedom truss cleaning mechanism (3), and drive the horizontal The vertical motion mechanism (32) performs vertical motion, causing the workpiece cleaning mechanism (33) to perform vertical motion; the drag chain mechanism (36) and the workpiece cleaning mechanism (33) are driven to perform horizontal motion; the workpiece cleaning mechanism (33) is connected to the movable slider (321), and the position and angle are automatically adjusted through the visual module (333), so as to guide the workpiece cleaning mechanism (33) to reach each tube hole position of the workpiece (21) to be cleaned; the workpiece cleaning mechanism (33) is equipped with a replaceable ball head file (332A), a cleaning nozzle (332B), and an automatic bolt tightening machine (332C); the sewage generated during the cleaning process is collected through the bottom sewage tank (18); after the cleaning is completed, the cleaned workpiece is hoisted out of the automatic cleaning device using a lifting device.

[0016] As described above, the automatic cleaning device and method applicable to dense tube holes according to the present invention have the following beneficial effects:

[0017] (1) The structural design of the automatic cleaning device of the present invention ensures verticality with the ground, thereby providing accurate verticality guarantee for large workpieces equipped with dense tube holes. Through this structural design, it can be ensured that the workpiece remains vertical to the ground during processing or cleaning, thereby improving processing accuracy and efficiency. In addition, the tube sheet structure also works in conjunction with the truss system to ensure the positioning accuracy of the workpiece on the truss, providing a solid foundation for subsequent automated operations.

[0018] (2) The three-degree-of-freedom truss equipment is equipped with an intelligent visual positioning system, which can automatically identify and locate all holes on the workpiece to ensure that none are missed during the cleaning process. Through precise visual recognition and flexible movement of the truss, the system can achieve accurate cleaning of each hole in the workpiece, greatly improving the efficiency and quality of the cleaning operation. In addition, the counting function ensures the traceability and repeatability of the cleaning process, providing strong support for production process monitoring and quality management. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Shown is a schematic diagram of the overall structure of a cleaning device in one embodiment of the present invention.

[0020] Figure 2 It is a schematic diagram of the external frame structure of a cleaning device according to one embodiment of the present invention.

[0021] Figure 3A Shown is a side view schematic diagram of the workpiece fixture in a cleaning device according to one embodiment of the present invention.

[0022] Figure 3B Shown is a schematic diagram of the front view of the workpiece fixture in the cleaning device in one embodiment of the present invention.

[0023] Figure 4 Shown is a schematic structural diagram of a three-degree-of-freedom truss cleaning mechanism in one embodiment of the present invention.

[0024] Figure 5 Shown is a schematic diagram of the structure of the horizontal and vertical motion units in a cleaning device in one embodiment of the present invention.

[0025] Figure 6 Shown is a schematic structural diagram of a workpiece cleaning mechanism in a cleaning device in one embodiment of the present invention.

[0026] Figure 7 It is a schematic diagram showing the structure of replacing different tool heads of a workpiece cleaning mechanism in a cleaning device in one embodiment of the present invention.

[0027] Figure 8 It is a schematic diagram showing the structure of replacing different tool heads of a workpiece cleaning mechanism in a cleaning device in one embodiment of the present invention.

[0028] Component number description

[0029] 1 External framework

[0030] 11 Lugs

[0031] 12 Frame beam

[0032] 13 Baffle housing

[0033] 14 Observation window

[0034] 15 Footing

[0035] 16. Surveillance Cameras

[0036] 17 Workstation Door

[0037] 18 Wastewater tank

[0038] 2 Workpiece fixture

[0039] 21 Workpiece to be cleaned

[0040] 22 Fixture reference part

[0041] 23 Pin

[0042] 24 Workpiece holder

[0043] 25 Clamp locking piece

[0044] 26 Bolts

[0045] 3. Three-degree-of-freedom truss cleaning mechanism

[0046] 31 Worm Gear Reducer

[0047] 32 Horizontal and vertical motion mechanism

[0048] 321 Move Slider

[0049] 322 Mobile Slide

[0050] 323 Slide Rail Steel Frame

[0051] 324 Rack and Pinion Mechanism

[0052] 325 Drive Motor

[0053] 33 Workpiece cleaning mechanism

[0054] 331 Cleaning unit tooling

[0055] 332A Ball-end File

[0056] 332B Cleaning nozzle

[0057] 332C Automatic Bolt Tightening Machine

[0058] 333 Vision Module

[0059] 334 Linear Drive Electric Cylinder Module

[0060] 34 Truss External Frame

[0061] 35 Screw mechanism

[0062] 351 Screw shaft

[0063] 352 Nut Seat

[0064] 36 Drag chain mechanism

[0065] 361 drag chain

[0066] 362 Drag chain slot

[0067] 363 Drag chain connecting shaft DETAILED DESCRIPTION

[0068] The following is a description of the implementation of the present invention by means of specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0069] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification, so that people familiar with this technology can understand and read them, and are not used to limit the limiting conditions that the present invention can implement, so they have no technical substantive significance. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope of the technical content disclosed by the present invention. The following detailed description should not be considered restrictive, and the scope of the embodiments of the present application is limited only by the claims of the published patents. The terms used here are only for describing specific embodiments and are not intended to limit the present application. Spatially related terms, such as "upper", "lower", "left", "right", "below", "below", "lower", "above", "upper", etc., can be used in the text to facilitate the description of the relationship between an element or feature shown in the figure and another element or feature.

[0070] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix", "hold" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0071] Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless there is an indication to the contrary in the context. It should be further understood that the terms "comprise", "include" indicate the presence of the described features, operations, elements, components, items, kinds, and / or groups, but do not exclude the presence, occurrence or addition of one or more other features, operations, elements, components, items, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". Exceptions to this definition will only occur when the combination of elements, functions or operations is inherently mutually exclusive in some way.

[0072] The purpose of the present invention is to provide an automatic cleaning device and method for dense pipe holes. In response to the technical problems raised in the above-mentioned background technology, the present invention realizes the verticality of a large-size thick disc to the ground by designing a workpiece fixture, thereby ensuring the positioning of the truss on the workpiece, and realizes the cleaning counting of dense pipe holes by designing a three-degree-of-freedom truss cleaning mechanism with a visual module, thereby improving the cleaning efficiency.

[0073] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the technical solution in the embodiments of the present invention is further described in detail through the following embodiments and in combination with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the invention.

[0074] like Figures 1 to 8 , which shows a schematic structural diagram of an automatic cleaning device suitable for dense tube holes in an embodiment of the present invention.

[0075] Figure 1 What is shown is the schematic diagram of the overall structure of the cleaning device. Figure 2 Shown is a schematic diagram of the external frame structure of the cleaning device.

[0076] Figure 3A and 3B Shown is a schematic diagram of the structure of the workpiece fixture in the cleaning device. Figure 4 Shown is a schematic diagram of the structure of a three-degree-of-freedom truss cleaning mechanism. Figure 5 Shown is a schematic diagram of the structure of the horizontal and vertical motion units in the cleaning device. Figure 6 Shown is a schematic diagram of the structure of a workpiece cleaning mechanism in a cleaning device. Figure 7 Shown is a schematic diagram of the structure of a workpiece cleaning mechanism in a cleaning device for replacing different tool heads. Figure 8 Shown is a schematic diagram of the structure of a workpiece cleaning mechanism in a cleaning device for replacing different tool heads.

[0077] exist Figure 1 In the embodiment, the automatic cleaning device at least comprises an external frame 1, a workpiece fixture 2 and a three-degree-of-freedom truss cleaning mechanism 3. The workpiece fixture 2 and the three-degree-of-freedom truss cleaning mechanism 3 are arranged in the external frame 1. The workpiece fixture 2 is used to accommodate and fix a workpiece 21 to be cleaned with dense tube holes, and the three-degree-of-freedom truss cleaning mechanism 3 cleans all the tube holes of the workpiece to be cleaned by moving in three degrees of freedom in the vertical direction (y direction), the horizontal direction (x direction) and the depth direction of the tube holes (z direction).

[0078] exist Figure 2In the embodiment, the structure of the external frame 1 includes: a lifting lug 11, a frame beam 12, a baffle shell 13, an observation window 14, a foot 15, a monitoring camera 16, a workstation door 17, and a sewage tank 18. The multiple frame beams 12 not only constitute the supporting structure of the automatic cleaning device, but also the welding connection between the baffle shell 13 and the frame beam 12 ensures the stability and strength of the overall structure. The top frame beam 12 is designed with a number of lifting lugs 11, which are used to lift the entire automatic cleaning device for easy movement and positioning. The baffle shell 13 on the side of the automatic cleaning device is provided with an openable and closable workstation door 17, so that the operator can easily enter the device to replace and maintain the workpiece. The bottom frame beam 12 is connected to the ground through a number of foots 15. These foots 15 serve as the bottom support of the automatic cleaning device, which not only stabilizes the device, but also firmly fixes it to the ground or other surfaces. In addition, a sewage tank 18 is specially designed at the bottom of the automatic cleaning device to collect sewage generated during the cleaning process to ensure a clean and environmentally friendly working environment.

[0079] An observation window 14 is provided on the baffle housing 13 on the front of the automatic cleaning device, through which the staff can observe the cleaning of the pipe holes inside the device. The observation window 14 can be open, or a transparent piece made of a solid transparent material such as tempered glass or plastic can be installed. The top surface of the automatic cleaning device is also provided with a monitoring camera 16 facing the inside of the device, which is used to collect the cleaning picture of the workpiece inside the device and transmit the collected picture to a control device (such as a host computer, a cloud server, etc.) with a communication connection established therewith. With such a design, the staff has two convenient observation methods to monitor the cleaning of the pipe fittings. On the one hand, they can directly pass through the observation window 14, which is a transparent window designed on the external frame 1, allowing the staff to intuitively view the internal cleaning process. On the other hand, the monitoring camera 16 provides a more flexible monitoring means, which can capture the real-time picture of the cleaning process and transmit it to the staff through the monitoring system. In this way, no matter where the staff is, they can understand the cleaning status of the pipe fittings through the monitoring picture to ensure the smooth progress of the cleaning work. The combination of these two observation methods provides a comprehensive and efficient monitoring solution.

[0080] exist Figure 3A and Figure 3BIn the figure, the structure of the workpiece fixture 2 includes: a fixture reference member 22, a pin 23, a workpiece fixing frame 24, a fixture locking member 25, and a bolt 26. The workpiece fixing frame 24 is provided with an inner groove for accommodating the workpiece 21 to be cleaned, so as to ensure that the workpiece will not be displaced during the cleaning process. One side of the workpiece fixing frame 24 is connected to the fixture reference member 22 through a plurality of pins 23 to position the workpiece 21 to be cleaned in the inner groove. The other side of the workpiece fixing frame 24 is connected to the fixture locking member 25 through a plurality of bolts 26, and the workpiece 21 to be cleaned is fixed by the pre-tightening force of the bolts 26.

[0081] For example, on one side of the workpiece fixing frame 24, a plurality of positioning holes are provided at positions corresponding to the fixture reference member 22. These positioning holes precisely correspond to the hole positions on the fixture reference member 22. By inserting the pin 23, the fixture reference member 22 and the workpiece fixing frame 24 can be firmly connected, thereby positioning the workpiece to be cleaned in the inner groove to ensure the stability of the workpiece during the cleaning process. On the other side of the workpiece fixing frame 24, a plurality of threaded holes are provided at positions corresponding to the fixture locking member 25. When the bolts 26 are inserted into these threaded holes, the fixture locking member 25 can be tightly connected to the workpiece fixing frame 24. In this way, a pre-tightening force is applied to the workpiece to be cleaned in the inner groove, the workpiece is further fixed, and the stability and safety of the workpiece during the cleaning process are enhanced.

[0082] It is worth mentioning that the pin 23, as an efficient quick-connection element, can be inserted into the corresponding positioning holes of the fixture reference part 22 and the workpiece fixing frame 24 to achieve the rapid fixation of the workpiece 21 to be cleaned. This design greatly improves the loading and unloading efficiency, thereby optimizing the workflow. After the workpiece is positioned, the necessary preload force can be applied to the workpiece by the use of the fixture locking member 25 and the bolt 26. The bolt 26 is connected to the fixture locking member 25 and the workpiece fixing frame 24 through a thread. By rotating the bolt 26, the pressure on the workpiece can be gradually adjusted to accurately apply the preload force. The application of this preload force is crucial to ensure the stability of the workpiece during the cleaning process. It prevents the displacement or loosening of the workpiece caused by vibration, impact or other external forces, thereby ensuring the cleaning effect and the safety of the workpiece. In addition, this design also enables the inner groove to adapt to workpieces of various sizes, enhancing the versatility and flexibility of the device. Through this carefully designed fixing and locking mechanism, the device can adapt to various cleaning needs while ensuring the convenience of operation and the reliability of the cleaning process.

[0083] exist Figure 4 In the figure, the structure of the three-degree-of-freedom truss cleaning mechanism 3 includes: a worm gear reducer 31, a horizontal and vertical motion mechanism 32, a workpiece cleaning mechanism 33, an external frame 34, a screw mechanism 35, and a drag chain mechanism 36.

[0084] The worm gear reducer 31 is arranged on the external frame 34, the worm gear reducer 31 is connected to the screw mechanism 35, the screw mechanism 35 is connected to the horizontal and vertical motion mechanism 32; the workpiece cleaning mechanism 33 is arranged on the horizontal and vertical motion mechanism 32 and connected to the drag chain mechanism 36. The worm gear reducer 31 drives the screw mechanism 35 and drives the horizontal and vertical motion mechanism 32 to make vertical motion, so that the workpiece cleaning mechanism 33 makes vertical motion; the drag chain mechanism 36 and the workpiece cleaning mechanism 33 are driven to make horizontal motion.

[0085] Specifically, the screw mechanism 35 includes a screw shaft 351 and a nut seat 352, the screw shaft 351 is connected to the worm gear reducer 31, and the nut seat 352 is sleeved on the screw shaft 351 and fixedly connected to the horizontal and vertical motion mechanism 32. When the worm gear reducer 31 rotates, the screw shaft 351 is driven to rotate, thereby pushing the nut seat 352 to move vertically, thereby driving the horizontal and vertical motion mechanism 32 to move vertically, and thus also driving the workpiece cleaning mechanism 33 on the horizontal and vertical motion mechanism 32 to move vertically. The drag chain mechanism 36 and the workpiece cleaning mechanism 33 are driven to move horizontally. In this way, through vertical and horizontal movements, the workpiece cleaning mechanism 33 can be driven to the target cleaning pipe. Through this structural design, the three-degree-of-freedom truss cleaning mechanism 3 can flexibly adapt to different cleaning tasks, whether it is horizontal or vertical movement, it can ensure the efficiency of the cleaning process and the cleaning quality of the workpiece.

[0086] It should be understood that the combination of a worm gear reducer and a lead screw mechanism is an efficient transmission solution specifically designed to achieve precise vertical motion. This combination provides a significant transmission ratio, resulting in strong torque, which is essential for applications that require high power output. The worm gear reducer has precise positioning capabilities and motion control performance, which can ensure stability and repeatability during movement. At the same time, the role of the lead screw shaft is to smoothly convert the rotational motion of the worm gear reducer into linear motion, further enhancing the accuracy of the entire system. This precise conversion not only ensures the accuracy of the movement, but also provides a reliable power and control solution.

[0087] exist Figure 5 In the figure, the structure of the horizontal and vertical motion mechanism 32 includes a moving slider 321, a moving slide rail 322, a slide rail steel frame 323, a gear rack mechanism 324, and a driving motor 325, and the structure of the drag chain mechanism 36 includes a drag chain 361, a drag chain groove 362, and a drag chain connecting shaft 363.

[0088] The slide rail steel frame 323 is fixedly connected to the nut seat 352 of the screw mechanism 35, the movable slide rail 322 is welded to the slide rail steel frame 323, the movable slider 321 is slidably installed in the movable slide rail 322, the driving motor 325 is connected to the movable slider 321, the drag chain 361 is connected to the movable slider 321 through the drag chain connecting shaft 363, and is installed in the drag chain groove 362. The driving motor 325 drives the gear rack mechanism 324 to drive the drag chain 361 and the movable slider 321 to complete the horizontal and vertical movements.

[0089] It should be understood that drag chains usually adopt a chain structure, consisting of multiple links, which are connected by connectors to form a flexible whole. This design allows the drag chain to be used flexibly in space-constrained environments while remaining compact. A separator is often installed inside the drag chain to separate cables and pipelines of different diameters and materials to prevent them from squeezing and abrading each other and reduce maintenance requirements.

[0090] exist Figure 6 , 7 In , 8, the structure of the workpiece cleaning mechanism 33 includes: a cleaning unit tooling 331, a ball head file 332A, a cleaning nozzle 332B, an automatic bolt tightening machine 332C, a vision module 333, and a linear drive electric cylinder module 334.

[0091] The linear drive electric cylinder module 334 is installed on the moving slider 321 of the horizontal and vertical motion mechanism 32. The linear drive electric cylinder module 334 is provided with a track along the depth direction of the pipe hole, and the cleaning unit tooling 331 can be slidably installed in the track. The cleaning unit tooling 331 is provided with a visual module 333 aimed at the target hole position, which is responsible for identifying the hole position on the workpiece to ensure the precise positioning of the cleaning work. The cleaning unit tooling 331 is provided with a replaceable tool head 332 along the depth direction of the pipe hole. The tool head includes a ball head file 332A, a cleaning nozzle 332B, and an automatic bolt tightening machine 332C. Under the guidance of the visual module 333, the linear drive electric cylinder module 334 drives the cleaning unit tooling 331 to move linearly to the target hole position. The ball head file 332A is used to remove burrs around the hole position and perform chamfering to ensure that the hole position is clean and smooth. The cleaning nozzle 332B further cleans the hole position to remove residual debris and dirt. The automatic bolt tightening machine 332C tightens the bolt 26 to fix the workpiece 21. This step ensures the verticality of the workpiece and provides accurate positioning for subsequent processing or assembly. Through this integrated cleaning mechanism, the cleaning, deburring, chamfering and fixing processes of the workpiece can be completed efficiently and automatically, greatly improving production efficiency and workpiece quality.

[0092] It should be noted here that the linear drive electric cylinder module 334 is a mechatronic device that realizes linear motion. It is driven by an electric motor to convert electrical energy into mechanical energy for linear motion. The automatic bolt tightening machine 332C is an automated device used to automatically complete the tightening of screws or bolts in industrial production. Through an integrated servo motor and control system, the tightening tool is precisely controlled to automatically complete the tightening of the screws at a set torque and angle to ensure that each bolt meets the specified tightening standard. Since the automatic bolt tightening machine itself is a prior art, it will not be described here.

[0093] The visual module 333 is usually composed of an image sensor (such as a CCD or CMOS camera), an optical system (lens), a lighting system, and an image acquisition card. It is responsible for converting optical images into digital images and transmitting them to the image processing unit. In this embodiment, the visual module 333 plays a core role, accurately identifying and guiding the workpiece cleaning mechanism 33 to the specified position through machine vision technology. For example, if the visual module 333 recognizes that the current object is a target pipe and the target pipe is not cleaned through the collected image, the linear drive electric cylinder module 334 is guided to drive the workpiece cleaning mechanism 33 to the target position, and the tool head is replaced with a ball head file 332A and a cleaning nozzle 332B for cleaning. If the visual module 333 recognizes that the current object is a pipe but has been cleaned through the collected image, there is no need to guide the linear drive electric cylinder module 334 to drive the workpiece cleaning mechanism 33 to the target position. If the visual module 333 recognizes that the current object is a bolt 26 through the collected image, the bolt 26 is tightened by replacing the tool head with an automatic bolt tightening machine 332C.

[0094] Exemplarily, the vision module 333 determines whether the current object is a target tube hole and whether the target tube hole has been cleaned in the following manner:

[0095] Step 1, image acquisition: The visual module first acquires the image of the target pore through the camera. This step is the basis for all subsequent processing. The image captured by the camera contains the visual information of the pore.

[0096] Step 2, image preprocessing: The acquired image may contain noise or irrelevant background information, so preprocessing is required, such as filtering denoising, edge detection and other operations to highlight the characteristics of the pores.

[0097] Step 3, feature extraction: On the preprocessed image, the vision module extracts features that help identify the pores. These features include color, texture, shape, etc. To identify whether the pores have been cleaned, specific features are required, such as the smoothness of the pore wall or the presence of residues.

[0098] Step 4, object recognition: Using deep learning or traditional computer vision technology, the vision module compares the extracted features with known pore features to determine whether the object in the image is the target pore.

[0099] Step 6, status judgment: To determine whether the tube hole has been cleaned, the visual module needs to compare it with the cleaned standard image, and identify burrs, residues or other signs indicating that it has not been cleaned around the hole based on the comparison results.

[0100] Step 7, decision output: Finally, the visual module will output the recognition results, including whether the object is the target tube hole and the cleaning status of the tube hole.

[0101] Similarly, the same judgment process can also be used to identify whether the current object is a bolt, which will not be described here.

[0102] In some examples, the visual module 333 is also used to implement the cleaning and counting of dense pores, without the need for manual counting and inventory, thereby improving the cleaning efficiency. The visual module 333 can implement the cleaning and counting in a manner such as: capturing images of the pore area, and preprocessing the captured images, such as denoising, contrast enhancement, brightness adjustment, etc., to improve the image quality and make the pore features more obvious. Extract pore features from the image, such as circular contours, edges, etc., to identify the pores in the image and distinguish them from the background. Create a standard shape template for the pores, perform template matching in the image, identify the matching shape as the pores, and count them based on the matching results; or, train a machine learning model, such as a convolutional neural network (CNN), to enable it to identify and count pores. This method can automatically identify and count by learning the features of the pores.

[0103] Above, combined with the attached Figures 1 to 8 The automatic cleaning structure of the automatic cleaning device for densely packed tube holes provided by the embodiment of the present invention is explained in detail. Hereinafter, the working process of the automatic cleaning device will be described accordingly.

[0104] (1) Lifting the workpiece: The operator uses a lifting device to lift the workpiece to be cleaned above the cleaning device. Through the lifting system, the workpiece is accurately placed above the workpiece fixing frame 24, ready for installation.

[0105] (2) Workpiece installation and fixation: The workpiece is lowered through the lifting system and aligned with the inner groove of the workpiece fixture 24. Once the workpiece is aligned with the workpiece fixture, the operator uses the fixture reference 22 and the pin 23 to fix the workpiece on the workpiece fixture. Then, a certain pre-tightening force is applied to the workpiece through the fixture locking member 25 and the bolt 26 to ensure the stability of the workpiece during the cleaning process.

[0106] (3) Start the cleaning procedure: The operator leaves the workstation and closes the workstation door 17 to ensure safety. Start the three-degree-of-freedom truss cleaning mechanism 3, and drive the horizontal and vertical motion mechanism 32 to move vertically through the worm gear reducer 31 and the screw mechanism 35, so that the workpiece cleaning mechanism 33 moves vertically; the drag chain mechanism 36 and the workpiece cleaning mechanism 33 are driven to move horizontally.

[0107] (4) Automatic cleaning process: The workpiece cleaning mechanism 33 is connected to the movable slider 321, and the position and angle are automatically adjusted through the visual module 333 to ensure that the cleaning unit can accurately reach each tube hole position of the workpiece. The cleaning unit 33 is equipped with a high-pressure cleaning nozzle to efficiently clean the dense tube holes of the workpiece, remove dirt and sediment in the tube holes, and achieve functions such as chamfering the tube holes by replacing the tool head. The truss system automatically adjusts the position and angle to ensure that all tube holes can be thoroughly cleaned.

[0108] (5) Sewage collection: The sewage generated during the cleaning process is collected through the bottom sewage tank 18 to prevent the sewage from polluting the working environment.

[0109] (6) Cleaning completion and workpiece removal: Use lifting equipment to lift the cleaned workpiece out of the workstation for subsequent processing or packaging.

[0110] In summary, the automatic cleaning device of the present invention provides accurate verticality guarantee, improves processing accuracy and efficiency, and the three-degree-of-freedom truss equipment is equipped with an intelligent visual positioning system, which can automatically identify and locate all holes on the workpiece, ensuring that no hole is missed during the cleaning process, and realizes accurate cleaning of each hole of the workpiece, greatly improving the efficiency and quality of the cleaning operation. Therefore, the present invention effectively overcomes various shortcomings in the prior art and has a high industrial utilization value.

[0111] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. An automatic cleaning device suitable for dense pipe holes, characterized in that: include: An external frame (1), a workpiece fixture (2) arranged in the external frame (1), and a three-degree-of-freedom truss cleaning mechanism (3); The workpiece fixture (2) is used to accommodate and fix a workpiece (21) to be cleaned with dense tube holes; the three-degree-of-freedom truss cleaning mechanism (3) cleans all the tube holes of the workpiece (21) to be cleaned by moving in three degrees of freedom in the vertical, horizontal and tube hole depth directions.

2. The automatic cleaning device for densely packed tube holes according to claim 1, characterized in that: The external frame (1) comprises a plurality of frame beams (12) and a baffle shell (13) fixedly connected to the frame beams (12); an observation window (14) is provided on the baffle shell (13) at the front of the automatic cleaning device.

3. The automatic cleaning device for densely packed tube holes according to claim 2, characterized in that: The external frame (1) further comprises a plurality of lifting ears (11) arranged on the top frame beam (12), a plurality of footings (15) arranged on the bottom frame beam (12), a monitoring camera (16) arranged on the top surface of the device and facing the inside of the device, and a workstation door (17) that can be opened and closed is provided on the baffle housing (13) on the side of the automatic cleaning device.

4. The automatic cleaning device for densely packed tube holes according to claim 1, characterized in that: The workpiece fixture (2) comprises: a fixture reference part (22), a pin shaft (23), a workpiece fixing frame (24), a fixture locking part (25), and a bolt (26); The workpiece fixing frame (24) is provided with an inner groove for accommodating the workpiece (21) to be cleaned; one side of the workpiece fixing frame (24) is connected to a fixture reference member (22) via a pin shaft (23) to position the workpiece (21) to be cleaned in the inner groove; the other side of the workpiece fixing frame (24) is connected to a fixture locking member (25) via a plurality of bolts (26) to fix the workpiece (21) to be cleaned via the pre-tightening force of the bolts (26).

5. The automatic cleaning device for densely packed tube holes according to claim 1, characterized in that: The three-degree-of-freedom truss cleaning mechanism (3) comprises: a worm gear reducer (31), a horizontal and vertical motion mechanism (32), a workpiece cleaning mechanism (33), an external frame (34), a screw mechanism (35), and a drag chain mechanism (36); The worm gear reducer (31) is arranged on the external frame (34), the worm gear reducer (31) is connected to the screw mechanism (35), and the screw mechanism (35) is connected to the horizontal and vertical motion mechanism (32); the workpiece cleaning mechanism (33) is arranged on the horizontal and vertical motion mechanism (32) and is connected to the drag chain mechanism (36); The worm gear reducer (31) drives the screw mechanism (35) and drives the horizontal and vertical motion mechanism (32) to move vertically, so that the workpiece cleaning mechanism (33) moves vertically; the drag chain mechanism (36) and the workpiece cleaning mechanism (33) are driven to move horizontally.

6. The automatic cleaning device for densely packed tube holes according to claim 5, characterized in that: The horizontal and vertical motion mechanism comprises a movable slider (321), a movable slide rail (322), a slide rail steel frame (323), a gear rack mechanism (324), and a drive motor (325); the drag chain mechanism (36) comprises a drag chain (361), a drag chain groove (362), and a drag chain connecting shaft (363); the screw mechanism (35) comprises a screw shaft (351) and a nut seat (352); The slide rail steel frame (323) is fixedly connected to the nut seat (352) of the screw mechanism (35); the slide rail steel frame (323) is provided with a movable slide rail (322) in the horizontal direction, the movable slider (321) is slidably arranged in the movable slide rail (322), the driving motor (325) is connected to the movable slider (321), the drag chain (361) is connected to the movable slider (321) through the drag chain connecting shaft (363), and is installed in the drag chain groove (362), and the gear rack mechanism (324) is driven by the driving motor (325) to drive the drag chain (361) and the movable slider (321) to move.

7. The automatic cleaning device for densely packed tube holes according to claim 6, characterized in that: The workpiece cleaning mechanism (33) comprises: a cleaning unit tool (331), a tool head (332), a visual module (333), and a linear drive electric cylinder module (334); A linear drive electric cylinder module (334) is installed on the movable slider (321); a track is provided on the linear drive electric cylinder module (334) along the depth direction of the pipe hole, and the cleaning unit tooling (331) is slidably arranged in the track; a replaceable tool head (332) is provided on the cleaning unit tooling (331) toward the pipe hole; and a visual module (333) is also provided on the cleaning unit tooling (331) toward the pipe hole.

8. The automatic cleaning device for densely packed tube holes according to claim 7, characterized in that: The replaceable tool head (332) comprises: a ball-end file (332A), a cleaning nozzle (332B), and an automatic bolt tightening machine (332C); the ball-end file (332A) is used to remove burrs around a pipe hole and perform chamfering; the cleaning nozzle (332B) is used to clean the pipe hole; and the automatic bolt tightening machine (332C) is used to automatically tighten bolts.

9. The automatic cleaning device for densely packed tube holes according to claim 7, characterized in that: After the visual module (333) identifies the target pipe through the collected image, it guides the linear drive electric cylinder module (334) to drive the cleaning unit tooling (331) to the target position for cleaning; or, after the visual module (333) identifies the target bolt through the collected image, it guides the linear drive electric cylinder module (334) to drive the cleaning unit tooling (331) to the target position for automatic tightening of the bolt.

10. An automatic cleaning method suitable for dense tube holes, characterized in that: Applicable to the automatic cleaning device as claimed in any one of claims 1 to 9; the automatic cleaning method comprises: The workpiece (21) to be cleaned is hoisted above the cleaning device and accurately placed above the workpiece fixing frame (24); The workpiece (21) to be cleaned is hoisted and lowered to align with the inner groove of the workpiece fixing frame (24); after being aligned and placed in the inner groove, the workpiece (21) to be cleaned is first fixed on the workpiece fixing frame (24) using a fixture reference member (22) and a pin shaft (23), and then a certain pre-tightening force is applied to the workpiece (21) to be cleaned by using a fixture locking member (25) and a bolt (26); The three-degree-of-freedom truss cleaning mechanism (3) is started, and the horizontal and vertical motion mechanism (32) is driven to move vertically through the worm gear reducer (31) and the screw mechanism (35), so that the workpiece cleaning mechanism (33) moves vertically; the drag chain mechanism (36) and the workpiece cleaning mechanism (33) are driven to move horizontally; The workpiece cleaning mechanism (33) is connected to the movable slider (321), and the position and angle are automatically adjusted through the visual module (333) to guide the workpiece cleaning mechanism (33) to reach each tube hole position of the workpiece (21) to be cleaned; the workpiece cleaning mechanism (33) is equipped with a replaceable ball head file (332A), a cleaning nozzle (332B), and an automatic bolt tightening machine (332C); The wastewater generated during the cleaning process is collected through the bottom wastewater tank (18); After cleaning is completed, use lifting equipment to lift the cleaned workpiece out of the automatic cleaning device.

Images