Intelligent balance cleaning machine for cleaning accumulated dust of overhead pipeline of workshop

Abstract

The invention discloses an intelligent balance cleaning machine for cleaning dust accumulated on an elevated pipeline of a workshop. The intelligent balance cleaning machine comprises a balance calibration device, a modular cleaning trolley and an arc-shaped mounting plate, the device is characterized in that the curvature radius of the arc-shaped mounting plate is matched with the outer surface of the elevated pipeline, a plurality of modular cleaning trolleys assembled in the length direction of the arc-shaped mounting plate are mounted on the arc-shaped mounting plate, and a balance calibration device is arranged on the modular cleaning trolley in the middle; the other modular cleaning trolleys on the two sides are symmetrically arranged relative to the modular cleaning trolley in the middle, every two adjacent modular cleaning trolleys are connected through a quick assembly / disassembly structure, and trolley modules with different arc lengths / radians are assembled by installing different numbers of modular cleaning trolleys so as to adapt to elevated pipelines with different pipe diameters. The overhead pipeline cleaning device is reasonable in design and simple in structure, has a remote control function, can realize automation and intelligence in overhead pipeline cleaning, and improves the overhead pipeline cleaning safety and the working efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of cleaning the outer wall of an elevated pipeline in a cleaning workshop, and in particular to an intelligent balanced cleaning machine for cleaning dust accumulated in an elevated pipeline in a cleaning workshop. Background Art

[0002] Most typical industrial manufacturing companies will arrange their workshop pipes on the ceiling or high racks (such as the silk-making workshop in a cigarette factory) for reasons of functionality, safety, practical efficiency, and spatial aesthetics. This helps to improve the overall operational efficiency and environmental safety of the production workshop.

[0003] However, in the production process of the workshop, a large amount of dust is inevitably generated (for example, in the production process of cigarettes, a large amount of tobacco dust is generated in the shredding, drying and air selection stages). If the air filtration system of the workshop is not efficient or the air circulation is not smooth, the dust may not be discharged in time, and the dust will be deposited in all equipment, pipes and other places in the workshop. If the elevated pipes in the workshop are not cleaned and maintained regularly for a long time, the dust will gradually accumulate and scale, which will not only affect the structural safety of the elevated pipes, but also cause corrosion of the upper wall of the elevated pipes and a decline in the quality of the products produced in severe cases (for example, the accumulation of tobacco dust on the high-altitude pipes of cigarette factories is easy to become a breeding point for tobacco insects, causing hidden dangers of insects). Generally speaking, the higher the production intensity of the workshop, the greater the amount of dust generated, and the faster the dust accumulation speed will be. If the pipeline design has dead corners or is not smooth enough, dust is more likely to accumulate in these places, forming quality risk hazards.

[0004] In order to solve the problem of dust accumulation on the elevated pipelines in the production workshop, the following methods are generally used in the factory area to clean the elevated pipelines: (1) High-pressure water jet cleaning technology: Use high-pressure water jets to effectively clean the dust and dirt on the outer wall of the elevated pipeline. The disadvantage is that the use is relatively limited and is only applicable to production workshops and pipeline systems that are not afraid of water. In addition, the high-pressure water jet is mostly from low to high, and the cleaning efficiency is not high. (2) Compressed air blowing technology: Combined with a robotic arm, compressed air is used to eject at high speed to blow away the dust accumulated on the upper wall of the pipeline. The disadvantage is that it is easy to cause the dust to spread and form secondary dust pollution. (3) Negative pressure vacuuming technology: Combined with a robotic arm, negative pressure pipeline and control system, a negative pressure vacuum cleaner is used to generate strong suction to remove dust and dust on the upper wall of the pipeline. The disadvantage is that the cleaning cost is high and the dust and scale are difficult to clean thoroughly. (4) Manual cleaning: Using tools such as elevated stairs and elevators, cleaning personnel climb up to the elevated pipeline for manual cleaning. The advantage is that the cleaning is thorough, but the disadvantage is that it is time-consuming and labor-intensive, the cleaning cost is high and there is a lack of certain safety. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the prior art and provide an intelligent balanced cleaning machine for cleaning dust deposited on elevated pipelines in a cleaning workshop. The machine adopts the design of a modular cleaning trolley and has the functions of dust collection, brushing, and scraping. It can clean the floating dust and dirt deposited on the elevated pipelines. Different numbers of modular cleaning trolleys are installed and arranged on arc-shaped mounting plates with different radii and / or lengths to adapt to the cleaning of elevated pipelines with different pipe diameters. The present invention has a reasonable design, a simple structure, and a remote control function. It can realize automation and intelligence in cleaning elevated pipelines, thereby improving the safety and work efficiency of elevated pipeline cleaning.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is: An intelligent balancing cleaning machine for cleaning dust accumulated on elevated pipelines in a cleaning workshop, which is used to clean dust accumulated on the surface of elevated pipelines in a cleaning workshop, comprises a balancing calibration device (1), a modular cleaning trolley (2), and an arc-shaped mounting plate (3); the characteristics are as follows: the curvature radius / bending degree of the arc-shaped mounting plate is adapted to the outer surface of the elevated pipeline, a plurality of modular cleaning trolleys assembled along the length direction of the arc-shaped mounting plate are mounted on the arc-shaped mounting plate, wherein a middle modular cleaning trolley is provided with a balancing calibration device, the remaining modular cleaning trolleys on both sides are symmetrically arranged with respect to the middle modular cleaning trolley, two adjacent modular cleaning trolleys are connected by a quick loading / unloading structure, and trolley modules with different arc lengths / arcs are assembled by installing different numbers of modular cleaning trolleys to adapt to elevated pipelines with different pipe diameters.

[0007] Furthermore, the arc-shaped mounting plate (3) is configured in multiple groups with different lengths and / or radii, and different numbers of modular cleaning trolleys are installed and arranged on the arc-shaped mounting plate to adapt to overhead pipelines with different diameters.

[0008] Furthermore, the balance calibration device (1) comprises a horizontal gyroscope (4), a servo controller (5), a servo motor (6), a precision gear (7), a balance bar (8), and a cylindrical shell. The horizontal gyroscope, the servo controller, the servo motor, and the precision gear are sequentially installed in the cylindrical shell from top to bottom. The servo motor is connected to the precision gear through a transmission. The balance bar passes through the cylindrical shell and its length direction is consistent with the length direction of the arc-shaped mounting plate. Both sides of the balance bar are provided with corresponding fine concave and convex teeth arranged along the length direction of the balance bar, and the concave and convex teeth are meshed with the precision gear.

[0009] Furthermore, the modular cleaning trolley (2) comprises a negative pressure fan (9), a filter (10), a dust collection box (11), a brush roller (12), a soft scraper roller (13), a battery and a remote control module (14), an air outlet (15), an electric wheel (16), and a trolley housing (18). Two groups of negative pressure fans, a filter, a dust collection box, a brush roller, a soft scraper roller, a battery and a remote control module are installed in the trolley housing. Two air outlets are arranged on the upper end surface of the trolley housing, and two electric wheels are installed on the lower end. The filter is arranged obliquely relative to the upper end surface of the trolley housing. A dust collection box is arranged at the bottom end of the filter. A negative pressure fan is arranged above the filter. The two groups of brush rollers and soft scraper rollers are arranged in parallel and are respectively connected to corresponding drive motors.

[0010] Furthermore, an adjustable nozzle (17) is provided at the top of the air outlet (15) of the modular cleaning trolley. The adjustable nozzle is fan-shaped and the angle of the nozzle can be adjusted up and down. When the air jet is ejected, a force is generated in a direction perpendicular to the plane of the pipeline to squeeze the pipeline wall, further helping the modular cleaning trolley to cling to the outer wall of the pipeline.

[0011] Furthermore, the arc-shaped mounting plate (3) is made of high-elasticity polyethylene plastic and has a "C"-shaped appearance. A plurality of modular cleaning trolleys are neatly arranged on the arc-shaped mounting plate, which serves to connect the plurality of modular cleaning trolleys and bend the entire cleaning machine into an arc shape, so that the entire cleaning machine is clamped on the pipeline to keep the cleaning machine balanced and standing on the upper outer wall of the pipeline. Empty grooves are provided at both ends of the arc-shaped mounting plate for detachably inserting ball bearings to avoid direct contact between the arc-shaped mounting plate and the outer wall of the pipeline.

[0012] Furthermore, the dust removal intensity can be adjusted by adjusting the power of the negative pressure fan (9), and the rotation speeds of the brush roller (12) and the soft scraper roller (13) can be adjusted by adjusting the voltage of the corresponding drive motor, thereby further achieving optimal matching of the cleaning efficiency.

[0013] A cleaning method for an intelligent balanced cleaning machine for cleaning dust accumulation in an elevated pipeline in a cleaning workshop comprises the following steps: S1: selecting an arc-shaped mounting plate (3) of a preset length according to the diameter of the pipeline, and selecting and installing a corresponding preset number of multiple modular cleaning trolleys (2), thereby forming an intelligent balanced cleaning machine; S2: The intelligent balancing cleaning machine is clamped on the elevated pipeline as a whole, and the cleaning machine is started when the cleaning machine is kept balanced and standing on the upper outer wall of the pipeline; the battery pack is controlled to be powered on and off and the current direction through remote control signals, and then the front and rear electric wheels of the cleaning machine are remotely controlled to move forward and backward along the length of the pipeline; S3: During cleaning, the front and rear negative pressure fans (9) in the modular cleaning trolley are in operation, and the impellers of the negative pressure fans rotate to draw away the air in the dust collection duct, so that negative pressure is generated at the entrance of the dust collection duct, forming a dust collection airflow, sucking in the floating dust on the surface of the elevated duct, collecting and vibrating through the filter net, and dropping into the dust collection box; for the dust and dirt on the duct, the front and rear two groups of brush rollers (12) and soft scraper rollers (13) at the bottom of the cleaning machine rotate to loosen and scrape off the dust and dirt on the surface of the duct, and then collect the dust into the dust collection box through negative pressure suction; wherein during the vacuuming process of the negative pressure fan, an adjustable nozzle (17) is provided on the top of the air outlet of the modular cleaning trolley, the adjustable nozzle is fan-shaped and the angle of the nozzle can be adjusted up and down, and when the air jet is ejected, its vertical direction to the duct plane will generate a force to squeeze the duct wall, further helping the modular cleaning trolley to cling to the outer wall of the duct.

[0014] The intelligent balanced cleaning machine and method for cleaning dust accumulation in elevated pipelines in a cleaning workshop of the present invention have the following beneficial effects: (1) The cleaning machine has a remote control function, which can realize automation and intelligence in cleaning elevated pipelines. Its balance calibration system can realize adaptive adjustment of the overall balance of the pipeline cleaning machine and intelligently correct the center of gravity of the cleaning machine to avoid deviation. The front and rear electric wheels of the cleaning machine are remotely controlled by remote control signals to perform reciprocating cleaning along the length of the pipeline, which not only effectively avoids the risks of manpower working at high altitudes and reduces economic costs, but also ensures the safety of the cleaning machine.

[0015] (2) The modular cleaning trolley design is adopted. The arc-shaped mounting plate is configured with multiple groups of different lengths. Different numbers of modular cleaning trolleys can be installed and arranged to adapt to the cleaning of elevated pipes with different pipe diameters. The structural design is simple and they work independently, which is convenient for the overall maintenance and repair of the equipment and the disassembly and replacement of accessories, further reducing the use conditions of the pipe cleaning machine and extending its service life. The equipment is easy to operate and use, and has strong application promotion.

[0016] (3) During the vacuuming process of the pipe cleaning machine, an adjustable nozzle is set on the top of the air outlet of the modular cleaning trolley. The adjustable nozzle can be fan-shaped and the angle of the nozzle can be adjusted up and down. When the air jet is sprayed, the reaction force vertical to the plane of the pipe is formed to push the modular cleaning trolley close to the outer wall of the pipe, effectively improving the cleaning efficiency and work safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall appearance of the intelligent balanced cleaning machine for cleaning dust accumulation in elevated pipelines in a workshop according to the present invention; Figure 2 It is a schematic diagram of the internal structure of the intelligent balancing cleaning machine of the present invention; Figure 3It is a structural schematic diagram of a balance calibration device and a modular cleaning trolley of the intelligent balance cleaning machine of the present invention; Figure 4 This is a schematic diagram of the bottom structure of the modular cleaning trolley of the intelligent balancing cleaning machine of the present invention.

[0018] In the figure: balance calibration device 1, modular cleaning trolley 2, arc mounting plate 3, horizontal gyroscope 4, servo controller 5, servo motor 6, precision gear 7, balance bar 8, negative pressure fan 9, filter 10, dust collection box 11, brush roller 12, soft scraper roller 13, battery and remote control module 14, air outlet 15, electric small wheel 16, adjustable nozzle 17, trolley shell 18. DETAILED DESCRIPTION

[0019] In order to make the technical solution and advantages of the present invention clearer, the technical solution of the present invention will be further described in detail in detail with reference to the accompanying drawings. It can be understood that the specific embodiments described here are only partial embodiments of the present invention, which are only used to explain the present invention, not to limit the present invention. It should be noted that, for the convenience of description, only the parts / structures related to the present invention are shown in the accompanying drawings, and other related parts can refer to the general design. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other to obtain new embodiments.

[0020] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In addition, unless otherwise defined, the technical terms or scientific terms used in the description of the present invention should be the common meanings understood by ordinary technicians in the field to which the present invention belongs.

[0021] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0022] like Figure 1-4 As shown, an intelligent balancing cleaning machine for cleaning dust accumulation on elevated pipelines in a cleaning workshop is used to clean dust accumulated on the surface of elevated pipelines in a cleaning workshop, and comprises a balancing calibration device 1, a modular cleaning trolley 2, and an arc-shaped mounting plate 3; characterized in that: the curvature radius / bending degree of the arc-shaped mounting plate 3 is adapted / matched to the outer surface of the elevated pipeline, and a plurality of modular cleaning trolleys 2 assembled along the length direction of the arc-shaped mounting plate 3 are installed on the arc-shaped mounting plate 3, wherein a middle modular cleaning trolley 2 is provided with a balancing calibration device 1, and the remaining modular cleaning trolleys 2 on both sides are symmetrically arranged with respect to the middle modular cleaning trolley 2, and two adjacent modular cleaning trolleys 2 are connected by a quick loading / unloading structure (such as snap-fitting, plug-in, suction, etc.), and can be assembled into trolley modules with different arc lengths / arcs by installing different numbers of modular cleaning trolleys 2 to adapt to elevated pipelines with different diameters.

[0023] The arc-shaped mounting plate 3 is configured with multiple groups / strips of different lengths, and different numbers of modular cleaning carts 2 can be installed and arranged on the arc-shaped mounting plate 3 to adapt to elevated pipelines with different diameters.

[0024] The balance calibration device 1 includes a horizontal gyroscope 4, a servo controller 5, a servo motor 6, a precision gear 7, a balance bar 8, and a cylindrical shell. The horizontal gyroscope 4, the servo controller 5, the servo motor 6, and the precision gear 7 are sequentially installed in the cylindrical shell from top to bottom. The servo motor 6 is connected to the precision gear 7 by transmission. The balance bar 8 penetrates the cylindrical shell and its length direction is consistent with / corresponds to the length direction of the arc-shaped mounting plate 3. The two sides of the balance bar 8 are provided with corresponding fine concave and convex teeth arranged along the length direction of the balance bar 8, and the concave and convex teeth are meshed with the precision gear 7. The detected shaking amplitude and direction data are transmitted to the servo controller 5 through the horizontal gyroscope 4, converted into a pulse signal and transmitted to the servo motor 6. The servo motor 6 drives the precision gear 7 to rotate clockwise or counterclockwise, driving the balance bar 8 to translate to the left and right sides as a whole, so that the length of the balance bar 8 on both sides of the cylindrical shell is adjusted, which plays a role in adjusting the center of gravity of the cleaning machine on both sides, thereby correcting the overall center of gravity of the cleaning machine, ensuring that the pipeline cleaning machine remains horizontal and does not deviate during operation, and ensuring the overall horizontal stability of the cleaning machine during operation.

[0025] The modular cleaning trolley 2 includes a negative pressure fan 9, a filter 10, a dust box 11, a brush roller 12, a soft scraper roller 13, a battery and a remote control module 14, an air outlet 15, an electric wheel 16, and a trolley shell 18. Two groups of negative pressure fans 9, a filter 10, a dust box 11, a brush roller 12, a soft scraper roller 13, a battery and a remote control module 14 are installed in the trolley shell 18. Two air outlets 15 are provided on the upper end surface of the trolley shell 18, and two electric wheels 16 are installed on the lower end. The filter 10 is inclined relative to the upper end surface of the trolley shell 18. A dust box 11 is provided at the bottom end of the filter 10. A negative pressure fan 9 is provided above the filter 10. Two groups of brush rollers 12 and soft scraper rollers 13 are arranged in parallel and are respectively connected to corresponding drive motors.

[0026] The modular cleaning trolley 2 is powered by a battery pack. When working, the battery pack is powered on and off and the direction of the current is controlled by a remote control signal, and then the front and rear electric wheels 16 of the cleaning machine are remotely controlled to move forward and backward; two groups of negative pressure fans 9 generate negative pressure to form a dust suction airflow, which sucks in the floating dust on the surface of the pipe, collects and vibrates through the filter 10, and falls into the dust collection box 10; for the dust and dirt on the surface of the pipe that cannot be removed by vacuuming, the front and rear two groups of brush rollers 12 and soft scraper rollers 13 are rotated and scraped to loosen and scrape off the dust and dirt on the surface of the pipe. The brush rollers 12 and soft scraper rollers 13 are movably removable, and the materials can be soft or hard brush materials and soft or hard rubber scrapers. After the dust and dirt are brushed and scraped off, the negative pressure fan is used for vacuuming again to collect the dust in the dust collection box 10.

[0027] An adjustable nozzle 17 is provided on the top of the air outlet 15 of the modular cleaning trolley 2. The angle of the adjustable nozzle 17 can be adjusted up and down in a fan shape. When the air jet is ejected, according to Newton's third law, its direction perpendicular to the pipe plane will generate a squeezing force toward the pipe wall, further pushing the modular cleaning trolley 2 to cling to the outer wall of the pipe (forming a reaction force perpendicular to the pipe plane to push the modular cleaning trolley 2 to cling to the outer wall of the pipe), thereby improving cleaning efficiency and safety.

[0028] The dust removal intensity can be adjusted by adjusting the power of the negative pressure fan 9, and the rotation speed of the brush roller 12 and the soft scraper roller 13 can be adjusted by adjusting the corresponding drive motor voltage, thereby further achieving the best matching of cleaning efficiency.

[0029] like Figure 1 As shown, the arc-shaped mounting plate 3 is made of high elastic strength polyethylene plastic (PE), and its appearance structure is "C"-shaped. Multiple modular cleaning carts 2 are neatly arranged on the arc-shaped mounting plate 3, which plays the role of connecting multiple modular cleaning carts 2 and bending the overall cleaning machine into an arc shape, and clamping the whole on the pipeline to keep the cleaning machine standing in balance on the upper end / upper outer wall of the pipeline; empty grooves are provided at both ends of the arc-shaped mounting plate 3 for detachable insertion of ball bearings to avoid direct contact between the arc-shaped mounting plate 3 and the outer wall of the pipeline, resulting in large friction or scratching the outer wall of the pipeline.

[0030] The present invention provides a cleaning method for an intelligent balanced cleaning machine for cleaning dust accumulation in an elevated pipeline in a cleaning workshop, which comprises: S1: Selecting an arc-shaped mounting plate 3 of a preset length according to the pipe diameter, and selecting and installing a corresponding preset number of multiple modular cleaning trolleys 2, thereby forming an intelligent balanced cleaning machine; S2: The intelligent balancing cleaning machine is clamped on the elevated pipeline as a whole, and the cleaning machine is started when the cleaning machine is kept balanced and standing on the upper outer wall of the pipeline; the battery pack is controlled to be powered on and off and the current direction through remote control signals, and then the front and rear electric wheels 16 of the cleaning machine are remotely controlled to move forward and backward along the length direction of the pipeline; S3: During cleaning, the front and rear negative pressure fans 9 in the modular cleaning trolley 2 are running, and the impellers of the negative pressure fans rotate to draw away the air in the dust collection duct, so that negative pressure is generated at the entrance of the dust collection duct, forming a dust collection airflow, sucking in the floating dust on the surface of the elevated duct, collecting and vibrating through the filter 10, and dropping into the dust collection box 11; for the dust on the duct, the front and rear two groups of brush rollers 12 and soft scraper rollers 13 at the bottom of the cleaning machine rotate to loosen and scrape off the dust on the surface of the duct, and then collect the dust into the dust collection box 11 through negative pressure suction. In this way, reciprocating cleaning is performed on the elevated pipeline, thereby achieving the purpose of cleaning the dust accumulated in the elevated pipeline; wherein the negative pressure fan 9 is in the process of vacuuming, the top of the air outlet 15 of the modular cleaning trolley 2 is provided with an adjustable nozzle 17, and the adjustable nozzle 17 can adjust the angle of the nozzle up and down in a fan shape. When the air jet is ejected, according to Newton's third law, its vertical direction to the plane of the pipeline will generate a force squeezing the pipeline wall, further pushing the modular cleaning trolley 2 to fit closely to the outer wall of the pipeline, thereby improving cleaning efficiency and safety.

[0031] The intelligent balanced cleaning machine and method for cleaning dust accumulation in elevated pipelines in a cleaning workshop of the present invention have the following beneficial effects: (1) The cleaning machine has a remote control function, which can realize automation and intelligence in cleaning elevated pipelines. Its balance calibration system can realize adaptive adjustment of the overall balance of the pipeline cleaning machine and intelligently correct the center of gravity of the cleaning machine to avoid deviation. The front and rear electric wheels of the cleaning machine are remotely controlled by remote control signals to perform reciprocating cleaning along the length of the pipeline, which not only effectively avoids the risks of manpower working at high altitudes and reduces economic costs, but also ensures the safety of the cleaning machine.

[0032] (2) The modular cleaning trolley design is adopted. The arc-shaped mounting plate is configured with multiple groups of different lengths and / or radii. Different numbers of modular cleaning trolleys can be installed and arranged to adapt to the cleaning of elevated pipes with different pipe diameters. The structural design is simple and they work independently, which is convenient for the overall maintenance and repair of the equipment and the disassembly and replacement of accessories, further reducing the use conditions of the pipe cleaning machine and extending its service life. The equipment is easy to operate and use, and has strong application promotion.

[0033] (3) During the vacuuming process of the pipe cleaning machine, an adjustable nozzle is set on the top of the air outlet of the modular cleaning trolley. The adjustable nozzle can be fan-shaped and the angle of the nozzle can be adjusted up and down. When the air jet is sprayed, the reaction force vertical to the plane of the pipe is formed to push the modular cleaning trolley close to the outer wall of the pipe, effectively improving the cleaning efficiency and work safety.

[0034] The above-mentioned implementation modes are for explanation of the present invention rather than limitation of the present invention. It can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An intelligent balancing cleaning machine for cleaning dust accumulated on elevated pipelines in a cleaning workshop, which is used to clean dust accumulated on the surface of elevated pipelines in a cleaning workshop, and comprises a balancing calibration device (1), a modular cleaning trolley (2), and an arc-shaped mounting plate (3); characterized in that: The curvature radius / bending degree of the arc-shaped mounting plate is adapted to the outer surface of the elevated pipeline. A plurality of modular cleaning trolleys assembled along the length direction of the arc-shaped mounting plate are installed on the arc-shaped mounting plate, wherein a balance calibration device is provided on the middle modular cleaning trolley, and the remaining modular cleaning trolleys on both sides are symmetrically arranged with respect to the middle modular cleaning trolley. Two adjacent modular cleaning trolleys are connected by a quick loading / unloading structure, and trolley modules with different arc lengths / arcs are assembled by installing different numbers of modular cleaning trolleys to adapt to elevated pipelines with different diameters.

2. An intelligent balanced cleaning machine for cleaning dust accumulation in elevated pipelines in a cleaning workshop as claimed in claim 1, characterized in that: The arc-shaped mounting plates (3) are configured in multiple groups with different lengths and / or radii, and different numbers of modular cleaning trolleys are installed and arranged on the arc-shaped mounting plates to adapt to overhead pipelines with different diameters.

3. An intelligent balanced cleaning machine for cleaning dust accumulation in elevated pipelines in a cleaning workshop as claimed in claim 2, characterized in that: The balance calibration device (1) comprises a horizontal gyroscope (4), a servo controller (5), a servo motor (6), a precision gear (7), a balance bar (8), and a cylindrical shell. The horizontal gyroscope, the servo controller, the servo motor, and the precision gear are sequentially installed in the cylindrical shell from top to bottom. The servo motor is connected to the precision gear through a transmission. The balance bar passes through the cylindrical shell and its length direction is consistent with the length direction of the arc-shaped mounting plate. Both sides of the balance bar are provided with corresponding fine concave and convex teeth arranged along the length direction of the balance bar, and the concave and convex teeth are meshed with the precision gear.

4. An intelligent balanced cleaning machine for cleaning dust accumulation in elevated pipelines in a cleaning workshop as claimed in claim 3, characterized in that: The modular cleaning trolley (2) comprises a negative pressure fan (9), a filter (10), a dust collection box (11), a brush roller (12), a soft scraper roller (13), a battery and a remote control module (14), an air outlet (15), an electric wheel (16), and a trolley housing (18). Two groups of negative pressure fans, a filter, a dust collection box, a brush roller, a soft scraper roller, a battery and a remote control module are installed in the trolley housing. Two air outlets are arranged on the upper end surface of the trolley housing, and two electric wheels are installed on the lower end. The filter is arranged obliquely relative to the upper end surface of the trolley housing. A dust collection box is arranged at the bottom end of the filter. A negative pressure fan is arranged above the filter. The two groups of brush rollers and soft scraper rollers are arranged in parallel and are respectively connected to corresponding drive motors.

5. An intelligent balanced cleaning machine for cleaning dust accumulation in elevated pipelines in a cleaning workshop as claimed in claim 4, characterized in that: An adjustable nozzle (17) is arranged at the top of the air outlet (15) of the modular cleaning trolley. The adjustable nozzle is fan-shaped and the angle of the nozzle can be adjusted up and down. When the air jet is ejected, a force is generated in a direction perpendicular to the plane of the pipeline to squeeze the pipeline wall, further helping the modular cleaning trolley to cling to the outer wall of the pipeline.

6. An intelligent balanced cleaning machine for cleaning dust accumulation in elevated pipelines in a cleaning workshop as claimed in claim 5, characterized in that: The arc-shaped mounting plate (3) is made of high-elasticity polyethylene plastic and has a "C"-shaped appearance. A plurality of modular cleaning trolleys are neatly arranged on the arc-shaped mounting plate, which serves to connect the plurality of modular cleaning trolleys and bend the entire cleaning machine into an arc shape, so that the entire cleaning machine is clamped on the pipeline and keeps the cleaning machine balanced and standing on the upper outer wall of the pipeline. Empty grooves are provided at both ends of the arc-shaped mounting plate for detachably inserting balls, so as to avoid direct contact between the arc-shaped mounting plate and the outer wall of the pipeline.

7. An intelligent balanced cleaning machine for cleaning dust accumulation in elevated pipelines in a cleaning workshop as claimed in claim 6, characterized in that: The dust removal strength can be adjusted by adjusting the power of the negative pressure fan (9), and the rotation speeds of the brush roller (12) and the soft scraper roller (13) can be adjusted by adjusting the voltage of the corresponding drive motor, thereby further achieving optimal matching of cleaning efficiency.

8. A method for cleaning dust accumulated on elevated pipelines in a cleaning workshop using an intelligent balanced cleaning machine, comprising the cleaning machine as claimed in claim 6 or 7, comprising the following steps: S1: selecting an arc-shaped mounting plate (3) of a preset length according to the diameter of the pipeline, and selecting and installing a corresponding preset number of multiple modular cleaning trolleys (2), thereby forming an intelligent balanced cleaning machine; S2: The intelligent balancing cleaning machine is clamped on the elevated pipeline as a whole, and the cleaning machine is started when the cleaning machine is kept balanced and standing on the upper outer wall of the pipeline; the battery pack is controlled to be powered on and off and the current direction through remote control signals, and then the front and rear electric wheels of the cleaning machine are remotely controlled to move forward and backward along the length of the pipeline; S3: During cleaning, the front and rear negative pressure fans (9) in the modular cleaning trolley are in operation, and the impellers of the negative pressure fans rotate to draw away the air in the dust collection duct, so that negative pressure is generated at the entrance of the dust collection duct, forming a dust collection airflow, sucking in the floating dust on the surface of the elevated duct, collecting and vibrating through the filter net, and dropping into the dust collection box; for the dust and dirt on the duct, the front and rear two groups of brush rollers (12) and soft scraper rollers (13) at the bottom of the cleaning machine rotate to loosen and scrape off the dust and dirt on the surface of the duct, and then collect the dust into the dust collection box through negative pressure suction; wherein during the vacuuming process of the negative pressure fan, an adjustable nozzle (17) is provided on the top of the air outlet of the modular cleaning trolley, the adjustable nozzle is fan-shaped and the angle of the nozzle can be adjusted up and down, and when the air jet is ejected, its vertical direction to the duct plane will generate a force to squeeze the duct wall, further helping the modular cleaning trolley to cling to the outer wall of the duct.

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