Fire water supply pipeline scale cleaning robot

Abstract

The invention relates to a cleaning robot for scale deposition of a fire water supply pipeline, and belongs to the field of fire-fighting robots. According to the technical scheme, the machine comprises a machine body, an annular scraper, a composite spray head, a hub motor, a thickness measuring sensor and a descaling water pipe; the composite nozzle is arranged in the center of the front portion of the machine body, and the rear portion of the composite nozzle is connected with the descaling water pipe which penetrates through the middle of the machine body. The annular scraper is of an annular structure and is arranged on the periphery of the front end of the machine body through the scraper telescopic pressing mechanism, and the scraper telescopic pressing mechanism enables the annular scraper to be tightly attached to the inner wall of the fire water supply pipeline. The hub motor is arranged on the circumferential face of the machine body, the hub motor and a hub frame of the hub motor are arranged on the machine body through the roller telescopic mechanism, and after the device is placed in the fire water supply pipeline, the roller telescopic mechanism enables the hub motor to be tightly attached to the inner wall of the fire water supply pipeline.

Description

Technical Field

[0001] The present invention relates to a scale cleaning robot for a fire water supply pipeline, belonging to the field of fire fighting robots. Background Art

[0002] At present, the fire fighting pipeline is used for long-term injection of fire fighting water. Whether the fire fighting water is medium water or tap water, the water stays inside it, which will cause scale to form. In the long run, it will cause the problem of blockage of the fire fighting water pipeline.

[0003] At present, there is no special cleaning equipment for the interior of the fire water supply pipeline to clean the scale inside it. Summary of the Invention

[0004] In view of the above problems, the present invention provides a scale cleaning robot for a fire water supply pipeline to solve the problem of cleaning the internal scale of the fire water supply pipe.

[0005] To achieve the above object, the technical solution adopted by the present invention is: The scale cleaning robot for a fire water supply pipeline of the present invention includes a machine body, an annular scraper, a composite nozzle, a hub motor, a thickness measuring sensor, and a descaling water pipe; The composite nozzle is arranged at the central position in the front of the machine body. The rear of the composite nozzle is connected to the descaling water pipe, and the descaling water pipe passes through the middle of the machine body; The annular scraper is of an annular structure and is arranged around the front end of the machine body through a scraper telescopic pressing mechanism. The scraper telescopic pressing mechanism presses the annular scraper tightly against the inner wall of the fire water supply pipeline; The hub motor is arranged on the circumferential surface of the machine body. The hub frame of the hub motor is arranged on the machine body through a roller telescopic mechanism. After this device is placed in the fire water supply pipeline, the roller telescopic mechanism presses the hub motor tightly against the inner wall of the fire water supply pipeline; The thickness measuring sensor is arranged on the circumferential surface of the machine body, close to but not in contact with the inner wall of the fire water supply pipeline; A junction box is further arranged at the rear end of the machine body. The control cables and power supply cables of the thickness measuring sensor and the roller motor are connected to the junction box, and the junction box is connected to an external connection cable.

[0006] According to the scale cleaning robot for a fire water supply pipeline, it further includes an ultrasonic distance sensor. The ultrasonic distance sensor is arranged on the front end face of the machine body and is connected to the junction box through a cable.

[0007] According to the scale cleaning robot for a fire water supply pipeline, it further includes a macro camera. The macro camera is fixed on the circumferential surface at the rear end of the machine body, behind the hub motor, and the macro camera faces the inner wall of the fire water supply pipeline.

[0008] According to the fire water supply pipe scale cleaning robot, the high-pressure composite nozzle includes a linear nozzle and a plurality of fan-shaped nozzles. The linear nozzle is arranged at the front center of the machine body, and the fan-shaped nozzles are arranged around the linear nozzle and around the front end of the machine body.

[0009] According to the fire water supply pipe scale cleaning robot, a scraper action chamber is provided on the circumference of the machine body, and a scraper telescopic pressing mechanism is arranged in the scraper action chamber. The scraper telescopic pressing mechanism includes a scraper primary coil, a scraper secondary coil and a scraper armature. The descaling scraper is arranged at the front end of the scraper armature. The scraper armature can move forward and backward in the scraper action chamber. The scraper secondary coil is arranged at the rear end of the scraper armature. The scraper primary coil is located at the bottom of the scraper action chamber, and the scraper primary coil and the scraper secondary coil are connected to the junction box.

[0010] According to the fire-fighting water supply pipe scale cleaning robot, a driving wheel action chamber is provided on the circumference of the machine body, and the roller telescopic mechanism includes a driving wheel armature, a driving wheel auxiliary coil and a driving wheel primary coil. The driving wheel auxiliary coil is arranged at the rear of the driving wheel armature, and the front end of the driving wheel armature leaks out of the driving wheel action chamber and is connected to the motor frame of the hub motor. The driving wheel primary coil is arranged inside the driving wheel action chamber, and the driving wheel auxiliary coil and the driving wheel primary coil are connected to the junction box.

[0011] According to the fire water supply pipe scale cleaning robot, the thickness sensor can be composed of an ultrasonic probe, an eddy current probe, an electromagnetic probe, etc. When measuring thickness, the primary and secondary coils of the thickness measurement pass an alternating current to generate pressure to press the thickness sensor tightly into the fire water supply pipe; after the thickness measurement action is completed, the primary and secondary coils of the thickness measurement pass opposite alternating currents to generate opposite forces to retract the thickness sensor into the thickness measurement action chamber; only one thickness sensor is installed in the circumferential direction.

[0012] The structure of the present invention can move in the fire water supply pipe, spray high-pressure water through the front nozzle to thoroughly flush the scale on the surface, and then scrape off the scale solidified on the inner wall of the pipe through a scraper, and finally perform thickness detection and video detection, thereby realizing the cleaning of scale in the fire water supply pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a side cutaway view of the present invention, Figure 2 It is a structural diagram of a descaling scraper of the present invention.

[0014] Reference numerals: 1 Composite nozzle, 2 Machine body, 3 Scraper action chamber, 4 Driving wheel action chamber, 5 Thickness measurement action chamber, 6 Original driving wheel coil, 7 Secondary driving wheel coil, 8 Driving wheel armature, 9 Hub motor, 10 Solid rubber tire, 11 Ultrasonic distance sensor, 12 Original thickness measurement coil, 13 Secondary thickness measurement coil, 14 Thickness measurement armature, 15 Thickness measurement sensor, 16 Original scraper coil, 17 Secondary scraper coil, 18 Scraper armature, 19 Ring-shaped scraper, 20 Waterproof baffle, 21 Fan-shaped nozzle, 22 Fire hose, 23 Water supply pipe, 24 Water supply pipe connector, 25 Junction box, 26 Macro camera. Detailed implementation

[0015] The following further explains the specific content of the present invention: The fire water supply pipe scale cleaning robot of the present invention includes a machine body 2, a ring-shaped scraper 19, a composite nozzle 1, a hub motor 9, a thickness measurement sensor, and a water supply pipe 23.

[0016] The composite nozzle 1 is arranged at the central position in the front of the machine body 2. The rear of the composite nozzle 1 is connected to a descaling water pipe, and the descaling water pipe passes through the middle of the machine body 2. The composite nozzle includes a linear nozzle and a fan-shaped nozzle. The linear nozzle is mainly responsible for flushing away the scale removed by the scraper, and the fan-shaped nozzle is mainly responsible for initially softening and removing part of the scale.

[0017] The ring-shaped scraper 19 is of a ring-shaped structure and is arranged around the front end of the machine body through a scraper telescopic pressing mechanism. The scraper telescopic pressing mechanism presses the ring-shaped scraper 19 tightly against the inner wall of the fire water supply pipe 23.

[0018] The hub motor 9 is arranged on the circumferential surface of the machine body. The hub frame of the hub motor 9 is arranged on the machine body through a roller telescopic mechanism. After the device is placed in the fire water supply pipe 23, the roller telescopic mechanism presses the hub motor 9 tightly against the inner wall of the fire water supply pipe 23; The thickness measurement sensor 15 is arranged on the circumferential surface of the machine body, close to but not in contact with the inner wall of the fire water supply pipe 23; A junction box 25 is also provided at the rear end of the machine body 2. The control cables and power supply cables of the thickness measurement sensor 15 and the roller motor are connected to the junction box 25, and the junction box 25 is connected to an external connection cable.

[0019] The present invention also includes an ultrasonic distance sensor 11. The ultrasonic distance sensor 11 is arranged on the front end face of the machine body and is connected to the junction box 25 through a cable.

[0020] The present invention also includes a macro camera 26. The macro camera 26 is fixed at the circumferential position at the rear end of the machine body. The macro camera 26 is located behind the hub motor 9 and faces the inner wall of the fire water supply pipe 23.

[0021] The high-pressure composite nozzle 1 of the present invention includes a linear nozzle and a plurality of fan-shaped nozzles 21. The linear nozzle is arranged at the center of the front end of the machine body 2, and the fan-shaped nozzles 21 are arranged around the linear nozzle and around the perimeter of the front end of the machine body.

[0022] A scraping blade action chamber 3 is provided on the circumferential surface of the machine body of the present invention. A scraping blade telescopic pressing mechanism is arranged in the scraping blade action chamber 3. The scraping blade telescopic pressing mechanism includes a scraping blade primary coil 15, a scraping blade secondary coil 17, and a scraping blade armature 18. The front end of the scraping blade armature 18 is provided with the descaling scraping blade. The scraping blade armature 18 can move back and forth in the scraping blade action chamber 3. The scraping blade secondary coil 17 is arranged at the rear end of the scraping blade armature 18. The scraping blade primary coil 15 is located at the bottom of the scraping blade action chamber 3. The scraping blade primary coil 15 and the scraping blade secondary coil 17 are connected to a junction box 25.

[0023] The annular scraping blade generates pressure through 8 scraping blade armatures arranged in a circumferential array and closely adheres to the inner wall of the fire water supply pipeline; the scraping blade primary coil and the scraping blade secondary coil are passed through an alternating current, which can generate magnetic fields with opposite polarities, thereby generating a magnetic force acting on the scraping blade armature, and further pressing the scraping blade armature tightly against the fire water supply pipeline; 8 scraping blade armatures are installed along the radial direction of the machine body.

[0024] A driving wheel action chamber 4 is provided on the circumferential surface of the machine body of the present invention. A roller telescopic mechanism is arranged in the driving wheel action chamber 4, including a driving wheel armature 8, a driving wheel secondary coil 7, and a driving wheel primary coil 63. The driving wheel secondary coil 7 is arranged at the rear of the driving wheel armature 8. The front end of the driving wheel armature 8 leaks out of the driving wheel action chamber 4 and is connected to the motor frame of the hub motor 9. The driving wheel primary coil 63 is arranged inside the driving wheel action chamber 4. The driving wheel secondary coil 7 and the driving wheel primary coil 63 are connected to the junction box 25.

[0025] A solid rubber tire is installed on the outer surface of the hub motor. The hub motor is connected to the driving wheel armature through the hub motor single-sided shaft motor frame; the driving wheel armature is also installed with primary and secondary coils, and the pressure of the driving wheel can be controlled through the control unit, thereby controlling the friction force of the driving wheel to prevent slipping during operation; two driving wheel assemblies are installed along the radial direction of the robot and are evenly distributed; a waterproof baffle is installed at the rear of each driving wheel to prevent water droplets from splashing into the macro camera.

[0026] The thickness measurement sensor 15 of the present invention can be composed of an ultrasonic probe, an eddy current probe, an electromagnetic probe, etc. When measuring the thickness, the thickness measurement primary and secondary coils are passed through an alternating current, generating a pressure to tightly press the thickness measurement sensor 15 into the fire water supply pipeline 23; after the thickness measurement action is completed, the thickness measurement primary and secondary coils are passed through an opposite alternating current, generating an opposite acting force to retract the thickness measurement sensor 15 into the thickness measurement action chamber 5; only one thickness measurement sensor 15 is installed in the circumferential direction.

[0027] The specific thickness measurement sensor can be composed of an ultrasonic probe, an eddy current probe, an electromagnetic probe, etc. When measuring the thickness, an alternating current is passed through the primary and secondary coils of the thickness measurement, generating a pressure to tightly press the thickness measurement sensor in the fire water supply pipeline; after the thickness measurement action is completed, an alternating current in the opposite direction is passed through the primary and secondary coils of the thickness measurement, generating an opposite acting force to retract the thickness measurement sensor into the thickness measurement action chamber; only one thickness measurement sensor is installed in the circumferential direction.

[0028] The macro camera of this device has the function of monitoring the descaling effect, which is convenient for manual intervention in the descaling effect; only one camera is installed along the radial direction of the robot.

Claims

1. A fire water supply pipeline scale cleaning robot, characterized in that: It includes a machine body (2), an annular scraper (19), a composite nozzle (1), a hub motor (9), a thickness sensor and a water supply pipe (23); The composite nozzle (1) is arranged at the front center of the machine body (2); the rear of the composite nozzle (1) is connected to a descaling water pipe, and the descaling water pipe passes through the middle of the machine body (2); The annular scraper (19) is an annular structure and is arranged around the front end of the machine body through a scraper telescopic pressing mechanism. The scraper telescopic pressing mechanism makes the annular scraper (19) close to the inner wall of the fire water supply pipe (23); The wheel hub motor (9) is arranged at a peripheral surface of the machine body, and the wheel hub frame of the wheel hub motor (9) is arranged on the machine body through a roller telescopic mechanism. After the device is placed in the fire water supply pipe (23), the roller telescopic mechanism makes the wheel hub motor (9) close to the inner wall of the fire water supply pipe (23); The thickness sensor (15) is arranged on the peripheral surface of the machine body, close to the inner wall of the fire water supply pipe (22) but not in contact with it; A junction box (25) is also provided at the rear end of the machine body (2), and the control cables and power cables of the thickness sensor (15) and the roller motor are connected to the junction box (25), and the junction box (25) is connected to external connection cables.

2. The fire water supply pipe scale cleaning robot according to claim 1 is characterized in that: It also includes an ultrasonic distance sensor (11), which is arranged on the front end surface of the machine body and connected to the junction box (25) via a cable.

3. The fire water supply pipe scale cleaning robot according to claim 1 is characterized in that: It also includes a macro camera (26), which is fixed to the rear end peripheral surface of the machine body, is located at the rear side of the wheel hub motor (9), and faces the inner wall of the fire water supply pipe (23).

4. The fire water supply pipeline scale cleaning robot according to claim 1 is characterized in that: The high-pressure composite nozzle (1) comprises a linear nozzle and a plurality of fan-shaped nozzles (21), wherein the linear nozzle is arranged at the center of the front end of the machine body (2), and the fan-shaped nozzles (21) are arranged around the linear nozzle and around the front end of the machine body.

5. The fire water supply pipeline scale cleaning robot according to claim 1 is characterized in that: A scraper action chamber (3) is provided on the circumferential surface of the machine body. A scraper telescopic pressing mechanism is provided in the scraper action chamber (3). The scraper telescopic pressing mechanism comprises a scraper primary coil (15), a scraper secondary coil (17) and a scraper armature (18). The descaling scraper is provided at the front end of the scraper armature (18). The scraper armature (18) can move forward and backward in the scraper action chamber (3). The scraper secondary coil (17) is provided at the rear end of the scraper armature (18). The scraper primary coil (15) is located at the bottom of the scraper action chamber (3). The scraper primary coil (15) and the scraper secondary coil (17) are connected to a junction box (25).

6. The fire water supply pipeline scale cleaning robot according to claim 1 is characterized in that: A driving wheel action chamber (4) is provided on the circumference of the machine body. The driving wheel action chamber (4) contains a driving wheel telescopic mechanism, which includes a driving wheel armature (8), a driving wheel auxiliary coil (7) and a driving wheel primary coil (6) (3). The driving wheel auxiliary coil (7) is arranged at the rear of the driving wheel armature (8). The front end of the driving wheel armature (8) leaks out of the driving wheel action chamber (4) and is connected to a motor frame of a wheel hub motor (9). The driving wheel primary coil (6) (3) is arranged inside the driving wheel action chamber (4). The driving wheel auxiliary coil (7) and the driving wheel primary coil (6) (3) are connected to a junction box (25).

7. The fire water supply pipeline scale cleaning robot according to claim 6 is characterized in that: The thickness sensor (15) may be composed of an ultrasonic probe, an eddy current probe, an electromagnetic probe, etc. When measuring thickness, an alternating current is passed through the primary and secondary coils of the thickness measurement to generate pressure to press the thickness sensor (15) tightly into the fire water supply pipe (23); After the thickness measurement action is completed, opposite alternating currents are passed through the primary and secondary thickness measurement coils to generate opposite forces, thereby retracting the thickness measurement sensor (15) into the thickness measurement chamber (5); only one thickness measurement sensor (15) is installed in the circumferential direction.

Images