Pipeline cleaning robot suitable for ship pipeline

Abstract

The pipeline cleaning robot suitable for the ship pipeline comprises a robot body shell, and multiple sets of crawler-type reducing modules are arranged in the axial direction of the robot body shell at intervals. Each crawler-type reducing module comprises a reducing self-adaptive control system connected to a shell of the robot body and a plurality of crawler servo motion systems fixed to the end of the reducing self-adaptive control system. One end of the robot main body shell is connected with a 360-degree rotating device, the 360-degree rotating device is connected with a laser control module, the other end of the robot main body shell is connected with a transmission device, the transmission device is connected with a control system module, and a piezoelectric ultrasonic communication module is arranged in the control system module; by means of the pipeline cleaning robot, the pipeline on a ship can be cleaned, impurities such as dust, welding slag and iron sand in the pipeline are removed, it is ensured that no macroscopic impurities exist in the pipeline, the pipeline cannot be damaged, and the pipeline cleaning time period is greatly shortened.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline cleaning equipment, and in particular relates to a pipeline cleaning robot suitable for ship pipelines. Background Art

[0002] The cleanliness of the pipeline is very high during the operation of the ship. If there is welding slag, iron filings or other garbage in the pipe, it will seriously damage the diesel engine. In order to ensure the stable and reliable operation of the ship system, the reliable operation of the diesel engine and extend its service life, the cleaning of the ship pipeline is very important. Due to the complex and multi-branch characteristics of ship pipelines, the traditional cleaning process uses multi-point vibrator vibration and other methods to clean the dirt, which is characterized by low efficiency, long time cycle and poor cleaning effect. Summary of the invention

[0003] The invention provides a pipeline cleaning robot suitable for ship pipelines to solve the existing problems.

[0004] To solve the above problems, the technical solution provided by the present invention is as follows:

[0005] An embodiment of the present invention provides a pipeline cleaning robot suitable for ship pipelines, comprising a robot main body shell (1), wherein a plurality of groups of crawler-type variable diameter modules are arranged at intervals in the axial direction of the robot main body shell (1), and each group of crawler-type variable diameter modules comprises a variable diameter adaptive control system (2) connected to the robot main body shell (1) and a plurality of crawler servo motion systems (3) fixed to the ends of the variable diameter adaptive control system (2);

[0006] One end of the robot main body shell (1) is connected to a 360-degree rotating device (4), and the 360-degree rotating device (4) is connected to a laser control module (5); the other end of the robot main body shell (1) is connected to a transmission device (6), and the transmission device (6) is connected to a control system module (8); and a piezoelectric ultrasonic communication module (9) is arranged in the control system module (8).

[0007] In an optional embodiment of the present invention, a retractable screw rod (1-1) is arranged inside the robot main body shell (1) for controlling and changing the six groups of crawler-type variable diameter modules so that the pipeline robot can smoothly pass through the pipeline.

[0008] In an optional embodiment of the present invention, three lasers (5-1) are arranged at intervals in the axial direction of the laser control module (5), and the three lasers (5-1) are used for laser cleaning and rust removal.

[0009] In an optional embodiment of the present invention, the laser control module (5) is built with a motor fan module, and the motor fan module cleans the residues and dirt to be cleaned and moves them away from the position through high-pressure airflow, thereby completing the cleaning.

[0010] In an optional embodiment of the present invention, a detection camera (5-2) is provided at the middle position of the front end of the laser control module (5), and the detection camera (5-2) is used for visual detection to detect dirt in the pipeline.

[0011] In an optional embodiment of the present invention, a power management module (7) is provided in the inner cavity of the transmission device (6) for rationally adjusting the power ratio of the track servo motion system (3), the control system module (8), the laser control module (5), the laser (5-1) and the detection camera (5-2).

[0012] In an optional embodiment of the present invention, the control system module (8) uses the piezoelectric ultrasonic communication module (9) to perform data transmission and communication: the control system module (8) is used for pipeline robot path planning, mileage recording and fault finding, and determining the position of the pipeline robot.

[0013] Compared with the prior art, the embodiment of the present invention provides a pipeline cleaning robot suitable for ship pipelines, which has the following beneficial effects: (1) It adopts full-automatic control technology to automatically identify dirt and start the cleaning device for cleaning. (2) The cleaning device adopts 3 independent laser cleaning probes, which are installed at 120 degrees and adopt a rotating cleaning method, which has a stronger and more effective cleaning effect. (3) The entire pipeline robot adopts a wireless network automatic control method. (4) The pipeline robot adopts a six-axis crawler forward technical solution, which has the characteristics of good passability and changeable passing diameter. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0015] Figure 1 A schematic diagram of the structure of a pipeline cleaning robot suitable for ship pipelines provided in an embodiment of the present application.

[0016] Figure 2 A side view of a pipeline cleaning robot suitable for ship pipelines provided in an embodiment of the present application.

[0017] Figure 3 A schematic diagram of a motor fan module of a pipe cleaning robot suitable for ship pipes provided in an embodiment of the present application.

[0018] Figure 4A schematic diagram of a control scheme for a pipeline cleaning robot suitable for ship pipelines provided in an embodiment of the present application.

[0019] Figure 5 A flow chart of a cleaning method for a pipeline cleaning robot suitable for ship pipelines provided in an embodiment of the present application.

[0020] Figure 6 A schematic diagram of a pipeline cleaning robot suitable for ship pipelines using laser rust removal provided in an embodiment of the present application.

[0021] Figure 7 A schematic diagram of a pipeline cleaning robot suitable for ship pipelines passing through a circular pipeline provided in an embodiment of the present application.

[0022] Figure 8 A schematic diagram of a pipe cleaning robot suitable for ship pipes passing through a curved pipe provided in an embodiment of the present application.

[0023] Fig. 9 A schematic diagram of a pipeline cleaning robot suitable for ship pipelines passing through a variable diameter pipeline provided in an embodiment of the present application.

[0024] Fig.10 A schematic diagram of a pipeline cleaning robot suitable for ship pipelines passing through parallel pipelines provided in an embodiment of the present application.

[0025] Fig.11 A schematic diagram of a pipeline cleaning robot suitable for ship pipelines passing through an inclined pipeline provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0027] like Figure 1 and Figure 2As shown, an embodiment of the present invention provides a pipeline cleaning robot suitable for ship pipelines, including a robot main body shell 1, wherein the robot main body shell 1 is provided with a plurality of groups of tracked variable diameter modules at intervals in the axial direction, and each group of tracked variable diameter modules includes a variable diameter adaptive control system 2 connected to the robot main body shell 1 and a plurality of tracked servo motion systems 3 fixed at the end of the variable diameter adaptive control system 2, and the variable diameter adaptive control system 2 is used to change the track angle to improve the passability of the pipeline robot. The tracked servo motion system 3 uses a DC servo motor to drive and control walking. There are 6 tracked variable diameter modules in this embodiment, and the number of tracked servo motion systems 3 is 2.

[0028] One end of the robot main body shell 1 is connected to a 360-degree rotating device 4, and the 360-degree rotating device 4 is connected to a laser control module 5. The 360-degree rotating device 4 is used for the laser control module to rotate 360 ​​degrees.

[0029] The other end of the robot main body shell 1 is connected to a transmission device 6 , and the transmission device 6 is connected to a control system module 8 . A piezoelectric ultrasonic communication module 9 is arranged in the control system module 8 .

[0030] A retractable screw 1-1 is provided in the robot body shell 1, which is used to control and change the 6 sets of crawler-type variable diameter modules so that the pipeline robot can smoothly pass through the pipeline. Three lasers 5-1 are arranged at intervals on the axis of the laser control module 5. The three lasers 5-1 are used for laser cleaning and rust removal. A detection camera 5-2 is provided in the middle of the front end of the laser control module 5. The detection camera 5-2 is used for visual detection to detect dirt in the pipeline. Figure 3 As shown, the laser control module 5 is built with a motor fan module, which cleans the residue and dirt to be cleaned and moves them away from the position through high-pressure airflow to complete the cleaning. The laser control module 5 of this embodiment adopts visual detection, and the end of the laser control module 5 adopts a camera + light source method to automatically illuminate and visually identify the dirt and residue inside the pipeline, and feed back to the robot control system module 8. Visually identify the pipeline diameter, branch pipe, pipeline bend, etc., change the diameter and track angle, and pass through the pipeline.

[0031] The inner cavity of the transmission device 6 is provided with a power management module 7, which is used to reasonably adjust the power ratio of the crawler servo motion system 3, the control system module 8, the laser control module 5, the laser 5-1 and the detection camera 5-2. The power management module 7 includes a lithium battery pack. The control system module 8 uses a piezoelectric ultrasonic communication module 9 for data transmission and communication: the control system module 8 is used for pipeline robot path planning, mileage recording and fault finding, and determines the position of the pipeline robot. The control system module 8 includes a system main control board, a control algorithm, and a controller part. The control algorithm includes a visual recognition algorithm and a motion control algorithm.

[0032] like Figure 4 and Figure 5 As shown, the cleaning control scheme of the pipeline robot is as follows: Detection link: visual detection, laser detection, light source. Robot control link: equipment self-test, fault handling unit, variable diameter adaptive control system (6 sets of crawler variable diameter modules), steering system / crawler control system, power management module. Control algorithm link: core motion control algorithm, core image algorithm recognition module, detection camera 5-2. Communication link: piezoelectric ultrasonic communication module 9. Cleaning link: 3 lasers 5-1 and motor fan module.

[0033] The present invention automatically identifies and processes the detection process and records and stores data. When cleaning the designated ship pipeline, it has the machine vision recognition algorithm technology and function to automatically identify the dirt and residue in the pipeline, and can automatically identify the dirt and start the laser cleaning device to clean it. The present invention adopts the laser cleaning method, not the chemical cleaning mode. Due to the particularity of ship pipelines, corrosive and polluting chemicals cannot be used, so the laser cleaning technical solution is adopted. Figure 6 As shown, three laser 5-1 cleaning probes are distributed around the circumference at 120 degrees, and the middle shaft can rotate 360 ​​degrees at an adjustable speed to achieve 360-degree cleaning and cleaning of the inside of the pipeline without dead angles. The motor fan module cleans the residue and dirt, and uses high-pressure airflow to move them away from the position to complete the cleaning.

[0034] like Figure 7 , Figure 8 , Fig. 9 , Fig.10 and Fig.11 As shown, the pipeline robot of the present invention is applied in a variety of scenarios. The pipeline cleaning robot is designed to clean the pipelines installed on the ship, remove dust, welding slag, iron sand and other impurities inside the pipeline, ensure that there are no impurities visible to the naked eye in the pipeline, and will not cause damage to the manufacturer's equipment, which can greatly shorten the pipeline cleaning time cycle. The pipeline robot of the present invention is suitable for different pipe diameters: including 50-150mm pipes with curved pipes. For different pipe diameters, curved pipes, etc., it adopts a design that can change the shape and function of 6 groups of crawler-type variable diameter modules, and can pass through circular pipes, curved pipes, variable diameter pipes, parallel pipes and inclined pipes.

[0035] In summary, although the present invention has been disclosed as above in terms of preferred embodiments, the above preferred embodiments are not intended to limit the present invention. A person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined in the claims.

Claims

1. A pipeline cleaning robot suitable for ship pipelines, characterized in that: The robot comprises a main body shell (1), wherein a plurality of groups of track-type variable diameter modules are arranged at intervals in the axial direction of the main body shell (1), and each group of track-type variable diameter modules comprises a variable diameter adaptive control system (2) connected to the main body shell (1) of the robot and a plurality of track servo motion systems (3) fixed to the ends of the variable diameter adaptive control system (2); One end of the robot main body shell (1) is connected to a 360-degree rotating device (4), and the 360-degree rotating device (4) is connected to a laser control module (5); the other end of the robot main body shell (1) is connected to a transmission device (6), and the transmission device (6) is connected to a control system module (8); and a piezoelectric ultrasonic communication module (9) is arranged in the control system module (8).

2. A pipeline cleaning robot suitable for ship pipelines according to claim 1, characterized in that: A retractable screw rod (1-1) is arranged inside the robot main body shell (1) and is used to control and change the six groups of crawler-type variable diameter modules so that the pipeline robot can smoothly pass through the pipeline.

3. A pipeline cleaning robot suitable for ship pipelines according to claim 1, characterized in that: A plurality of lasers (5-1) are arranged at intervals in the axial direction of the laser control module (5), and the plurality of lasers (5-1) are used for laser cleaning and rust removal.

4. A pipeline cleaning robot suitable for ship pipelines according to claim 3, characterized in that: The laser control module (5) has a built-in motor fan module, which cleans the residue and dirt and moves them away from the location through high-pressure airflow, thus completing the cleaning.

5. The pipeline cleaning robot suitable for ship pipelines according to claim 3, characterized in that: A detection camera (5-2) is arranged at the middle position of the front end of the laser control module (5), and the detection camera (5-2) is used for visual detection to detect dirt in the pipeline.

6. A pipeline cleaning robot suitable for ship pipelines according to claim 5, characterized in that: The inner cavity of the transmission device (6) is provided with a power management module (7) for rationally adjusting the power ratio of the track servo motion system (3), the control system module (8), the laser control module (5), the laser (5-1) and the detection camera (5-2).

7. The pipeline cleaning robot suitable for ship pipelines according to claim 1, characterized in that: The control system module (8) uses the piezoelectric ultrasonic communication module (9) to perform data transmission and communication: the control system module (8) is used for pipeline robot path planning, mileage recording and fault finding, and determining the position of the pipeline robot.

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