Intelligent balanced cleaning machine for cleaning dust accumulated on overhead pipeline in workshop

Abstract

The application discloses a kind of intelligent balanced cleaning machines for cleaning workshop overhead pipeline dust, it includes balanced calibration device, modular cleaning trolley, arc mounting plate;Its characterized in that: the curvature radius of arc mounting plate is compatible with the outer surface of overhead pipeline, multiple modular cleaning trolleys are assembled along the length direction of arc mounting plate on arc mounting plate, wherein the modular cleaning trolley of middle one is provided with balanced calibration device, the remaining modular cleaning trolleys on both sides are symmetrically arranged about the modular cleaning trolley of middle one, two adjacent modular cleaning trolleys are connected by quick assembly / disassembly structure, different arc length / arc degree trolley module is assembled by installing different number of modular cleaning trolleys, to adapt to overhead pipeline of different pipe diameter.The application is reasonable in design, simple in structure, with remote control function, overhead pipeline cleaning can be realized automatically and intelligently, improve overhead pipeline cleaning safety and work efficiency.

Description

Technical Field

[0001] This invention relates to the field of cleaning technology for the outer walls of elevated pipes in cleaning workshops, and specifically to an intelligent balancing cleaning machine for dust accumulation on elevated pipes in cleaning workshops. Background Technology

[0002] Most typical industrial manufacturing enterprises will arrange the workshop pipes on the ceiling or on the roof for reasons such as functionality, safety, practical efficiency and spatial aesthetics (such as the tobacco processing workshop of a cigarette factory). This helps to improve the overall operating efficiency and environmental safety of the production workshop.

[0003] However, a large amount of dust is inevitably generated during the production process in the workshop (such as in cigarette production, where cutting, drying, and air separation processes generate a lot of tobacco dust). If the workshop's air filtration system is inefficient or air circulation is poor, the dust may not be discharged in time, and this dust will accumulate in all equipment and pipes within the workshop. If the overhead pipes in the workshop are not cleaned and maintained regularly for a long time, dust will gradually accumulate and form scale, which not only affects the structural safety of the overhead pipes, but in severe cases, it can also cause corrosion of the upper walls of the overhead pipes and a decline in the quality of the produced products (for example, the accumulation of tobacco dust on the overhead pipes in cigarette factories can easily become breeding grounds for tobacco insects, causing potential insect infestations). Generally speaking, the higher the production intensity in the workshop, the greater the amount of dust generated, and the faster the dust accumulation will be. If the pipe design has dead corners or is not smooth enough, dust is more likely to accumulate in these places, creating potential quality risks.

[0004] In response to the problem of dust accumulation on overhead pipelines in production workshops, the following methods are generally used for cleaning overhead pipelines in factory areas: (1) High-pressure water jet cleaning technology: High-pressure water jets are used to effectively clean the dust and dirt on the outer wall of overhead pipelines. The disadvantage is that the application is limited and it is only applicable to production workshops and pipeline systems that are not afraid of water. Moreover, high-pressure water jets are 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 shoot out 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 dust collection 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 accumulation 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 overhead stairs and elevators, cleaning personnel climb to approach the overhead pipelines 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 safety. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of existing technologies and provide an intelligent balanced cleaning machine for cleaning dust accumulation on overhead pipelines in cleaning workshops. It adopts a modular cleaning cart design and has functions such as vacuuming, brushing, and scraping, enabling the cleaning of floating dust and grime deposited on overhead pipelines. By installing and arranging different numbers of modular cleaning carts on arc-shaped mounting plates of different radii and / or lengths, it can adapt to the cleaning operations of overhead pipelines with different diameters. This invention has a reasonable design, simple structure, and remote control function, enabling automated and intelligent cleaning of overhead pipelines, improving safety and work efficiency.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A smart balancing cleaning machine for cleaning dust accumulation on elevated pipelines in a cleaning workshop is used to clean dust accumulation on the surface of elevated pipelines in a cleaning workshop. It includes a balancing calibration device (1), modular cleaning trolleys (2), and an arc-shaped mounting plate (3). The characteristic is that the radius of curvature / degree of bending of the arc-shaped mounting plate is adapted to the outer surface of the elevated pipeline. Multiple modular cleaning trolleys assembled along the length of the arc-shaped mounting plate are installed on the arc-shaped mounting plate. The middle modular cleaning trolley is equipped with a balancing calibration device. The other modular cleaning trolleys on both sides are symmetrically arranged about the middle modular cleaning trolley. Adjacent modular cleaning trolleys are connected by a quick loading / unloading structure. Different numbers of modular cleaning trolleys are installed to assemble trolley modules with different arc lengths / arc degrees to adapt to elevated pipelines of different diameters.

[0008] Furthermore, the arc-shaped mounting plate (3) is configured with multiple sets of 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 elevated pipelines of different diameters.

[0009] Furthermore, 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 housing. The horizontal gyroscope, servo controller, servo motor, and precision gear are installed in the cylindrical housing from top to bottom. The servo motor is connected to the precision gear. The balance bar passes through the cylindrical housing and its length direction is consistent with the length direction of the arc-shaped mounting plate. The two sides of the balance bar are provided with corresponding small concave and convex teeth arranged along the length direction of the balance bar. The concave and convex teeth mesh with the precision gear.

[0010] Furthermore, the modular cleaning cart (2) includes a negative pressure fan (9), a filter screen (10), a dust collection box (11), a brush roller (12), a soft scraper roller (13), a battery and remote control module (14), an air outlet (15), electric wheels (16), and a cart shell (18). The cart shell is equipped with two sets of negative pressure fans, a filter screen, a dust collection box, a brush roller, a soft scraper roller, a battery, and a remote control module. The upper end of the cart shell is provided with two air outlets, and the lower end is equipped with two electric wheels. The filter screen is inclined relative to the upper end of the cart shell. A dust collection box is provided at the bottom of the filter screen. A negative pressure fan is provided above the filter screen. The two sets of brush rollers and soft scraper rollers are arranged in parallel and are respectively connected to the corresponding drive motors.

[0011] Furthermore, the top of the air outlet (15) of the modular cleaning vehicle is provided with an adjustable nozzle (17). The adjustable nozzle is fan-shaped and the angle of the nozzle can be adjusted up and down. When the air jet is sprayed out, it will generate a squeezing force on the pipe wall in the direction perpendicular to the pipe plane, which will further help the modular cleaning vehicle to stick to the outer wall of the pipe.

[0012] Furthermore, the arc-shaped mounting plate (3) is made of high-elasticity polyethylene plastic and has a "C" shaped structure. Multiple modular cleaning carts are neatly arranged on the arc-shaped mounting plate, which serves to connect multiple modular cleaning carts and bend the entire cleaning machine into an arc shape. The entire machine is clamped onto the pipe, keeping the cleaning machine balanced and standing on the upper outer wall of the pipe. The arc-shaped mounting plate has slots at both ends for detachable insertion of ball bearings, avoiding direct contact between the arc-shaped mounting plate and the outer wall of the pipe.

[0013] Furthermore, 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 voltage of the corresponding drive motor, so as to achieve the best matching of cleaning efficiency.

[0014] A cleaning method for dust accumulation on overhead pipes in a cleaning workshop using an intelligent balancing cleaning machine, comprising the following steps:

[0015] S1: Select an arc-shaped mounting plate (3) of a preset length according to the pipe diameter, and select and install multiple modular cleaning carts (2) of a corresponding preset number to form an intelligent balance cleaning machine;

[0016] S2: Secure the intelligent balancing cleaning machine to the elevated pipe and start the cleaning machine when it is balanced and standing on the upper outer wall of the pipe; control the power supply and current direction of the battery pack through remote control signals, and then remotely control the front and rear electric wheels of the cleaning machine to move back and forth along the length of the pipe.

[0017] S3: During cleaning, the front and rear negative pressure fans (9) in the modular cleaning cart operate. The impeller of the negative pressure fan rotates and draws away the air in the dust collection pipe, so that the dust collection pipe inlet generates negative pressure and forms a dust collection airflow. The floating dust on the surface of the elevated pipe is sucked in, collected and vibrated through the filter screen, and falls into the dust collection box. For the dust in the pipe, the front and rear 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 pipe. Then, the dust is collected into the dust collection box by negative pressure dust collection. During the dust collection process, the top of the air outlet of the modular cleaning cart is equipped with an adjustable nozzle (17). The adjustable nozzle is fan-shaped and the angle of the nozzle can be adjusted up and down. When the air jet is sprayed out, it will generate a squeezing force on the pipe wall in the direction perpendicular to the pipe plane, which further helps the modular cleaning cart to stick to the outer wall of the pipe.

[0018] The present invention provides an intelligent balancing cleaning machine and method for cleaning dust accumulation on elevated pipelines in a cleaning workshop, which has the following beneficial effects:

[0019] (1) The cleaning machine has a remote control function, and can achieve automation and intelligence in cleaning elevated pipelines. Its balance calibration system can adaptively adjust 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 can be remotely controlled by the remote control signal to perform reciprocating cleaning along the length of the pipeline. This not only effectively avoids the risks of manual high-altitude operation and reduces economic costs, but also ensures the safety of the cleaning machine operation.

[0020] (2) The modular cleaning trolley design is adopted. The arc-shaped mounting plate is configured with multiple sets of different lengths, and different numbers of modular cleaning trolleys can be installed and arranged to adapt to the cleaning operation of elevated pipelines with different diameters. Moreover, the structural design is simple, and the trolleys work independently, which facilitates the overall maintenance and repair of the equipment, as well as the disassembly and replacement of parts. This further reduces the operating conditions of the pipeline cleaning machine, extends its service life, and the equipment is easy to operate and has strong applicability.

[0021] (3) During the dust extraction process of the pipe cleaning machine, the top of the air outlet of the modular cleaning trolley is equipped with an adjustable nozzle. 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 out, a reaction force perpendicular to the pipe plane is formed to push the modular cleaning trolley to stick to the outer wall of the pipe, which effectively improves cleaning efficiency and work safety. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall appearance structure of the intelligent balancing cleaning machine for cleaning dust accumulation on elevated pipelines in a cleaning workshop according to the present invention.

[0023] Figure 2 This is a schematic diagram of the internal structure of the intelligent balancing cleaning machine of the present invention;

[0024] Figure 3 This is a schematic diagram of the balance calibration device and modular cleaning cart structure of the intelligent balance cleaning machine of the present invention.

[0025] Figure 4 This is a schematic diagram of the bottom structure of the modular cleaning cart of the intelligent balancing cleaning machine of the present invention.

[0026] In the diagram: 1. Balance calibration device; 2. Modular cleaning trolley; 3. Arc-shaped mounting plate; 4. Horizontal gyroscope; 5. Servo controller; 6. Servo motor; 7. Precision gear; 8. Balance bar; 9. Negative pressure fan; 10. Filter screen; 11. Dust collection box; 12. Brush roller; 13. Soft scraper roller; 14. Battery and remote control module; 15. Air outlet; 16. Electric wheels; 17. Adjustable nozzle; 18. Trolley housing. Detailed Implementation

[0027] To make the technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in a clearer and more complete manner below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only some embodiments of the present invention, and are only used to explain the present invention, not to limit the present invention. It should be noted that, for ease of description, only the parts / structures related to the present invention are shown in the accompanying drawings. Other related parts can be referred to with ordinary design. In the absence of conflict, the embodiments and technical features in the embodiments of the present invention can be combined with each other to obtain new embodiments.

[0028] Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this invention. Furthermore, unless otherwise defined, the technical or scientific terms used in the description of this invention should have the ordinary meaning understood by those skilled in the art.

[0029] The present invention will now be described in further detail with reference to the accompanying drawings.

[0030] like Figure 1-4As shown, an intelligent balancing cleaning machine for cleaning dust accumulation on elevated pipelines in a cleaning workshop is used to clean dust accumulation on the upper surface of elevated pipelines in a cleaning workshop. It includes a balancing calibration device 1, modular cleaning trolleys 2, and an arc-shaped mounting plate 3. The key feature is that the radius of curvature / degree of bending of the arc-shaped mounting plate 3 is adapted to / matched with the outer surface of the elevated pipeline. Multiple modular cleaning trolleys 2 assembled along the length of the arc-shaped mounting plate 3 are installed on the arc-shaped mounting plate 3. The middle modular cleaning trolley 2 is equipped with the balancing calibration device 1. The other modular cleaning trolleys 2 on both sides are symmetrically arranged about the middle modular cleaning trolley 2. Adjacent modular cleaning trolleys 2 are connected by a quick loading / unloading structure (such as snap-fit, plug-in, suction, etc.). Different numbers of modular cleaning trolleys 2 can be installed to assemble trolley modules with different arc lengths / arcs to adapt to elevated pipelines of different diameters.

[0031] The arc-shaped mounting plate 3 is configured with multiple sets / strips of varying lengths, and can be used to accommodate overhead pipelines of different diameters by installing and arranging different numbers of modular cleaning trolleys 2 on the arc-shaped mounting plate 3.

[0032] 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 housing. The horizontal gyroscope 4, servo controller 5, servo motor 6, and precision gear 7 are installed sequentially from top to bottom within the cylindrical housing. The servo motor 6 is connected to the precision gear 7. The balance bar 8 penetrates the cylindrical housing, and its length direction is consistent with / corresponds to the length direction of the arc-shaped mounting plate 3. Small concave and convex teeth are provided on both sides of the balance bar 8 along its length direction, meshing with the precision gear 7. The horizontal gyroscope 4 transmits the detected amplitude and direction data of the swaying to the servo controller 5, which converts it into pulse signals and transmits them to the servo motor 6. The servo motor 6 drives the precision gear 7 to rotate clockwise or counterclockwise, causing the balance bar 8 to move horizontally to the left or right. This adjusts the length of the balance bar 8 on both sides of the cylindrical housing, thereby adjusting the center of gravity of the cleaning machine and correcting the overall center of gravity of the cleaning machine. This ensures that the pipe cleaning machine remains horizontal and stable during operation.

[0033] The modular cleaning cart 2 includes a negative pressure fan 9, a filter screen 10, a dust collection box 11, a brush roller 12, a soft scraper roller 13, a battery and remote control module 14, an air outlet 15, electric wheels 16, and a cart shell 18. The cart shell 18 houses two sets of negative pressure fans 9, filters 10, dust collection boxes 11, brush rollers 12, soft scraper rollers 13, batteries, and a remote control module 14. Two air outlets 15 are located on the upper surface of the cart shell 18, and two electric wheels 16 are installed on the lower surface. The filter screen 10 is inclined relative to the upper surface of the cart shell 18, and a dust collection box 11 is located at the bottom of the filter screen 10. A negative pressure fan 9 is located above the filter screen 10. The two sets of brush rollers 12 and soft scraper rollers 13 are arranged in parallel and connected to their respective drive motors.

[0034] The modular cleaning cart 2 is powered by a battery pack. During operation, the battery pack is controlled to turn on and off and control the direction of current via a remote control signal, thereby remotely controlling the front and rear electric wheels 16 of the cleaning machine to move back and forth. Two sets of negative pressure fans 9 generate negative pressure to form a suction airflow, which sucks in the floating dust on the surface of the pipe, collects it through the filter screen 10, vibrates it, and drops it into the dust collection box 10. For dirt on the surface of the pipe that cannot be removed by vacuuming, the front and rear sets of brush rollers 12 and soft scraper rollers 13 rotate and scrape to loosen and remove the dirt on the surface of the pipe. The brush rollers 12 and soft scraper rollers 13 are detachable and can be made of soft or hard brush material and soft or hard rubber scraper. After the dirt is brushed and scraped, it is vacuumed again by the negative pressure fans and collected into the dust collection box 10.

[0035] The top of the air outlet 15 of the modular cleaning cart 2 is equipped with an adjustable nozzle 17. 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, it will generate a squeezing force on the pipe wall in the direction perpendicular to the pipe plane, which will further help the modular cleaning cart 2 to stick to the outer wall of the pipe (the reaction force perpendicular to the pipe plane pushes the modular cleaning cart 2 to stick to the outer wall of the pipe), thus improving cleaning efficiency and safety.

[0036] 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 voltage of the corresponding drive motor, so as to achieve the best match of cleaning efficiency.

[0037] like Figure 1As shown, the arc-shaped mounting plate 3 is made of high-elasticity, high-strength polyethylene plastic (PE) and has a "C"-shaped structure. Multiple modular cleaning carts 2 are neatly arranged on the arc-shaped mounting plate 3, which serves to connect the multiple modular cleaning carts 2 and bend the entire cleaning machine into an arc shape. The whole machine is clamped onto the pipe, keeping the cleaning machine balanced and standing on the upper end / upper outer wall of the pipe. The arc-shaped mounting plate 3 has slots at both ends for detachable insertion of ball bearings, avoiding direct contact between the arc-shaped mounting plate 3 and the outer wall of the pipe, which would result in high friction or scratches on the outer wall of the pipe.

[0038] The present invention discloses a cleaning method for dust accumulation on overhead pipes in a cleaning workshop using an intelligent balancing cleaning machine, comprising:

[0039] S1: Select an arc-shaped mounting plate 3 of a preset length according to the pipe diameter, and select and install multiple modular cleaning carts 2 of a corresponding preset number to form an intelligent balancing cleaning machine;

[0040] S2: Secure the intelligent balancing cleaning machine to the overhead pipe and start the cleaning machine when it is balanced and standing on the upper outer wall of the pipe; control the power supply and current direction of the battery pack through remote control signals, and then remotely control the front and rear electric wheels 16 of the cleaning machine to move back and forth along the length of the pipe.

[0041] S3: During cleaning, the front and rear negative pressure fans 9 inside the modular cleaning cart 2 operate. The impellers of the negative pressure fans rotate to draw air out of the dust collection pipe, creating negative pressure at the inlet of the dust collection pipe and forming a suction airflow. This airflow draws in the floating dust from the surface of the overhead pipe, collects it through the filter screen 10, and vibrates it before it falls into the dust collection box 11. For the grime in the pipe, the front and rear sets of brush rollers 12 and soft scraper rollers 13 at the bottom of the cleaning machine rotate to loosen and scrape off the grime on the pipe surface. The dust is then collected into the dust collection box 11 by negative pressure suction. In this way, the cleaning process is repeated on the elevated pipeline to achieve the purpose of cleaning the dust accumulated in the elevated pipeline. During the dust collection process, the negative pressure fan 9 has an adjustable nozzle 17 on the top of the air outlet 15 of the modular cleaning cart 2. The adjustable nozzle 17 can be adjusted up and down in a fan shape. When the air jet is sprayed out, according to Newton's third law, it will generate a squeezing force on the pipeline wall in the direction perpendicular to the pipeline plane, which will further help the modular cleaning cart 2 to stick to the outer wall of the pipeline, improving cleaning efficiency and safety.

[0042] The present invention provides an intelligent balancing cleaning machine and method for cleaning dust accumulation on elevated pipelines in a cleaning workshop, which has the following beneficial effects:

[0043] (1) The cleaning machine has a remote control function, and can achieve automation and intelligence in cleaning elevated pipelines. Its balance calibration system can adaptively adjust 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 can be remotely controlled by the remote control signal to perform reciprocating cleaning along the length of the pipeline. This not only effectively avoids the risks of manual high-altitude operation and reduces economic costs, but also ensures the safety of the cleaning machine operation.

[0044] (2) The modular cleaning trolley design is adopted. The arc-shaped mounting plate is configured with multiple sets of trolleys of different lengths and / or radii. Different numbers of modular cleaning trolleys can be installed and arranged to adapt to the cleaning operations of elevated pipelines with different diameters. The structure is simple and the trolleys work independently, which facilitates the overall maintenance and repair of the equipment and the disassembly and replacement of parts. This further reduces the operating conditions of the pipeline cleaning machine, extends its service life, and the equipment is easy to operate and has strong applicability.

[0045] (3) During the dust extraction process of the pipe cleaning machine, the top of the air outlet of the modular cleaning trolley is equipped with an adjustable nozzle. 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 out, a reaction force perpendicular to the pipe plane is formed to push the modular cleaning trolley to stick to the outer wall of the pipe, which effectively improves cleaning efficiency and work safety.

[0046] The above embodiments are illustrative of the present invention and not intended to limit the invention. It is understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent balance cleaning machine for cleaning the dust on the surface of the workshop overhead pipeline, which is used for cleaning the dust on the surface of the workshop overhead pipeline and comprises a balance calibration device (1), a modular cleaning trolley (2) and an arc-shaped mounting plate (3); characterized in that: The curvature radius / degree of curvature of the arc-shaped mounting plate is adapted to the outer surface of the overhead pipeline. Multiple modular cleaning trolleys are assembled along the length of the arc-shaped mounting plate. The middle modular cleaning trolley is equipped with a balance calibration device. The other modular cleaning trolleys on both sides are symmetrically arranged about the middle modular cleaning trolley. Adjacent modular cleaning trolleys are connected by a quick-load / unload structure. By installing different numbers of modular cleaning trolleys, trolley modules with different arc lengths / curvatures can be assembled to adapt to overhead pipelines of different diameters.

2. An intelligent balance cleaner for cleaning the dust accumulated on the overhead pipe of a factory as claimed in claim 1, wherein The arc-shaped mounting plate (3) is configured with multiple sets of 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 elevated pipelines of different diameters.

3. An intelligent balance cleaner for cleaning the dust accumulated on the overhead pipe of a factory as claimed in claim 2, wherein 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 housing. The horizontal gyroscope, servo controller, servo motor, and precision gear are installed in the cylindrical housing from top to bottom. The servo motor is connected to the precision gear. The balance bar passes through the cylindrical housing and its length direction is consistent with the length direction of the arc-shaped mounting plate. The two sides of the balance bar are provided with corresponding small concave and convex teeth arranged along the length direction of the balance bar. The concave and convex teeth mesh with the precision gear.

4. A self-balancing cleaning machine for cleaning the interior of a catwalk pipe in a factory, as recited in claim 3, wherein, The modular cleaning cart (2) includes a negative pressure fan (9), a filter screen (10), a dust collection box (11), a brush roller (12), a soft scraper roller (13), a battery and remote control module (14), an air outlet (15), electric wheels (16), and a cart shell (18). The cart shell is equipped with two sets of negative pressure fans, a filter screen, a dust collection box, a brush roller, a soft scraper roller, a battery, and a remote control module. Two air outlets are provided on the upper end of the cart shell, and two electric wheels are installed on the lower end. The filter screen is inclined relative to the upper end of the cart shell. A dust collection box is provided at the bottom of the filter screen. A negative pressure fan is provided above the filter screen. The two sets of brush rollers and soft scraper rollers are arranged in parallel and are respectively connected to the corresponding drive motors.

5. A self-balancing cleaning machine for cleaning the interior of a catwalk pipe in a factory, as recited in claim 4, wherein, The top of the air outlet (15) of the modular cleaning vehicle is provided with an adjustable nozzle (17), which is fan-shaped and the angle of the nozzle can be adjusted up and down.

6. The intelligent balancing cleaning machine for dust accumulation on elevated pipelines in a cleaning workshop as described in claim 5, characterized in that, The arc-shaped mounting plate (3) is made of high-elasticity polyethylene plastic and has a "C" shaped structure. Multiple modular cleaning carts are neatly arranged on the arc-shaped mounting plate, which serves to connect multiple modular cleaning carts and bend the entire cleaning machine into an arc shape. The entire machine is clamped onto the pipe, keeping the cleaning machine balanced and standing on the upper outer wall of the pipe. The arc-shaped mounting plate has slots at both ends for detachable insertion of ball bearings, avoiding direct contact between the arc-shaped mounting plate and the outer wall of the pipe.

7. The intelligent balancing cleaning machine for dust accumulation on elevated pipelines in a cleaning workshop as described in claim 6, characterized in that, 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 voltage of the corresponding drive motor, so as to achieve the best matching of cleaning efficiency.

8. A cleaning method for dust accumulation on overhead pipes in a cleaning workshop using an intelligent balancing cleaning machine, comprising the cleaning machine as described in claim 6 or 7, and comprising the following steps: S1: Select an arc-shaped mounting plate (3) of a preset length according to the pipe diameter, and select and install multiple modular cleaning carts (2) of a corresponding preset number to form an intelligent balance cleaning machine; S2: Secure the intelligent balancing cleaning machine to the elevated pipe and start the cleaning machine when it is balanced and standing on the upper outer wall of the pipe; control the power supply and current direction of the battery pack through remote control signals, and then remotely control the front and rear electric wheels of the cleaning machine to move back and forth along the length of the pipe. S3: During cleaning, the front and rear negative pressure fans (9) in the modular cleaning cart are in operation. The impeller of the negative pressure fan rotates to draw away the air in the dust collection pipe, so that the dust collection pipe inlet generates negative pressure and forms a dust collection airflow. The floating dust on the surface of the overhead pipe is sucked in, collected and vibrated through the filter screen, and falls into the dust collection box. For the dust in the pipe, the front and rear 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 pipe. Then, the dust is collected into the dust collection box by negative pressure dust collection. During the dust collection process, when the adjustable nozzle (17) sprays out an air jet, it will generate a squeezing force on the pipe wall in the direction perpendicular to the pipe plane, which further helps the modular cleaning cart to stick to the outer wall of the pipe.

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