A pipeline cleaning device and control method for a dry condensation vacuum deodorization system of oil processing

Abstract

The present application relates to oil deodorization technical field, specifically to a kind of pipeline cleaning device and control method for oil processing dry condensation vacuum deodorization system, device includes the multi-lumen delivery pipe of connecting high-pressure water source and high-pressure gas source and signal source, support frame is set in the condenser condenser pipe side, two groups of lockable moving mechanism are set on support frame along the axial direction, lockable moving mechanism includes opening and closing adjustment assembly, the blind end of opening and closing adjustment assembly is connected to guide block by guide driving rod, guide block is installed on support frame;The output end of opening and closing adjustment assembly is connected to paw, and nozzle and pattern collector are set on paw, and nozzle and pattern collector are connected to external controller by multi-lumen delivery pipe, the movable deep cleaning of condenser pipe and the quick switching of device between adjacent condenser pipe are realized in the present application, quickly in the narrow space cleaning inside condenser, avoid residual oil or pipe scale on condenser pipe, enhance condensation effect, avoid causing pollution.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of oil deodorization, in particular to a pipeline cleaning device for a dry condensation vacuum deodorization system for oil processing and a control method. BACKGROUND

[0002] The oil processing industry in China has developed rapidly, and most domestic oil processing enterprises currently use steam jet vacuum systems and ice cold vacuum systems. However, in the oil refining production process, steam consumption is mainly in the deodorization stage. Therefore, a dry condensation vacuum deodorization system is used to reduce steam consumption.

[0003] The basic principle of the dry condensation vacuum deodorization system is to use water below the triple point (0℃, 613.28 Pa) to only undergo sublimation and deposition phase changes, and only exist in gaseous water vapor and solid ice. Water vapor will directly condense into ice. The absolute pressure in the deodorization system is lower than the triple point pressure of water. Therefore, the condensable gas in the deodorization system will directly condense into ice.

[0004] As shown in Figure 1 The dry condensation vacuum deodorization system includes a condenser system 11, a refrigerant circulation system 12, a cooling water circulation system 13, a vacuum pump system 14, a refrigeration unit system 15, and an automatic control system.

[0005] In the production process, the dry condensation vacuum system is started in advance. The operation process of the dry condensation vacuum system is as follows: turn on the cooling water circulation system 13 to heat the refrigeration system 15, turn on the refrigeration system 15 to cool the refrigerant (ethylene glycol water solution), turn on the refrigerant circulation system 12 to cool the condenser system 11, turn on the vacuum pump system 14 to vacuum the condenser system 11, connect the condenser system 11 to the deodorization system, and make the oil mixed gas 16 enter the system to vacuum the deodorization system. Turn on the automatic control system, and the dry condensation vacuum system automatically runs to condense the oil mixed gas 16 into solid ice.

[0006] After the operation is completed, steam 17 is introduced into the system to melt the solid ice and flow out of the system for cleaning, realizing the deodorization of the oil and greatly reducing the consumption of steam.

[0007] The Chinese patent document (publication number: CN212962879U) discloses a dry condenser suitable for oil deodorization vacuum system, which comprises a shell, a plurality of refrigerant pipes arranged in the shell, the spacing of the plurality of refrigerant pipes gradually decreases along the direction of gas entering, and a plurality of baffles arranged on the refrigerant pipes, the spacing of the plurality of baffles gradually decreases along the direction of gas flowing. The utility model provides a dry condenser suitable for oil deodorization vacuum system, the spacing of the plurality of refrigerant pipes in the condenser gradually decreases along the direction of gas entering, the spacing of the plurality of baffles gradually decreases along the direction of gas flowing, which can adapt to the change of condensable gas content in mixed gas, significantly increase the working period of the condenser as a whole, greatly improve the working efficiency of the condenser, and maximize the role of the condenser.

[0008] In the prior art, the condenser of the dry condensation vacuum system condenses oil mixed gas into solid ice attached to the condensing pipe of the condenser, and then performs thawing and ice cleaning treatment to realize oil deodorization, but oil or pipe scale will be left on the condensing pipe, which reduces the heat exchange efficiency, affects the condensation effect, increases energy consumption, and may also cause cross contamination, which needs to be cleaned in time. Due to the limited internal space of the condensing pipe, the cleaning of the condensing pipe has great limitations, and the cleaning effect is poor. SUMMARY

[0009] In view of the deficiencies in the prior art, the present application provides a pipe cleaning device for a dry condensation vacuum deodorization system for oil processing and a control method. By coordinating the core components such as the support frame, the hand claw and the opening and closing adjustment assembly, the movable deep cleaning of the outer periphery of the condensing pipe and the quick switching of the position of the device between adjacent condensing pipes are realized, the cleaning in the narrow space inside the condenser is quickly performed, the oil or pipe scale left on the condensing pipe is avoided, the condensation effect is enhanced, and cross contamination is avoided.

[0010] In order to achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0011] A pipe cleaning device for a dry condensation vacuum deodorization system for oil processing, comprising a multi-lumen delivery pipe connected to a high-pressure water source, a high-pressure gas source and a signal source, a support frame arranged beside the condensing pipe of the condenser, two groups of lockable moving mechanisms arranged on the support frame in the axial direction, the lockable moving mechanisms comprising an opening and closing adjustment assembly, the blind end of the opening and closing adjustment assembly being connected to a guide block through a guide driving rod, the guide block being installed on the support frame, the output end of the opening and closing adjustment assembly being connected to a hand claw, a spray head and a pattern collector being arranged on the hand claw, the spray head and the pattern collector being connected to an external controller through the multi-lumen delivery pipe.

[0012] Preferably, the gripper comprises a first gripper and a second gripper provided with cavities, the first gripper and the second gripper are provided with arc-shaped grooves, two arc-shaped guide plates are slidingly installed in the arc-shaped grooves; a plurality of through grooves are formed on the inner arc surfaces of the first gripper and the second gripper, the through grooves are communicated with the arc-shaped grooves, a driving unit is slidingly arranged in the through grooves, a through hole is formed on the outer arc surface of the first gripper and the second gripper corresponding to the driving unit, a first spring is arranged in the through hole, the first spring is connected with the driving unit and the outer arc surface; a through groove is formed on the arc-shaped guide plate close to the first spring, the first spring is arranged in the through groove, and a top protrusion is arranged on both sides of the through groove; a guide fork is arranged on the end of each of the two arc-shaped guide plates close to the opening and closing adjusting assembly.

[0013] Preferably, the opening and closing adjusting assembly comprises a U-shaped plate and a central shaft, wing plates are symmetrically arranged on both sides of the inside of the U-shaped plate, and the ends of the two wing plates are fixedly connected with the first gripper and the second gripper respectively; the opposite sides of the two wing plates are installed on the central shaft through a hinge seat; a through-shaft motor is fixedly arranged in the U-shaped plate, a bidirectional threaded shaft is installed on the through-shaft motor, and sliding blocks are screwed on both ends of the bidirectional threaded shaft; a transmission unit is arranged between the sliding blocks and the wing plates; a second motor is arranged on the bottom of the guide block close to the U-shaped plate, a unidirectional threaded shaft is installed on the second motor, and the unidirectional threaded shaft is screwed with the guide block.

[0014] Preferably, the transmission unit comprises a limiting sliding groove and a limiting frame, the limiting sliding groove is formed on the wing plate corresponding to the sliding block, and the limiting frame is slidingly installed in the limiting sliding groove; a connecting rod is fixedly arranged on the sliding block, and the other end of the connecting rod is hingedly arranged with the limiting frame.

[0015] Preferably, the guide forks are connected with the arc-shaped guide plates through rotating ball heads, and a first pivot rod and a second pivot rod are respectively connected with the two guide forks; a square ring of one end of the first pivot rod is arranged on the guide fork of the first gripper, a rotating sleeve of the middle part of the first pivot rod is installed on the central shaft, a hinge part is arranged on the other end of the first pivot rod, and the hinge part is slidingly installed on the wing plate on the other side; a square ring of one end of the second pivot rod is arranged on the guide fork of the second gripper, a rotating sleeve of the middle part of the second pivot rod is installed on the central shaft, a hinge part is arranged on the other end of the second pivot rod, and the hinge part is slidingly installed on the wing plate on the other side; the rotating sleeves on the first pivot rod and the second pivot rod are respectively located at both ends of the central shaft.

[0016] Preferably, the driving unit comprises a shell, a motor wheel is installed in the shell, sliding grooves are formed on both sides of the shell, a second spring and a sliding seat are installed in the sliding grooves, both ends of the motor wheel are rotatably installed in the sliding seats, and a first spring is fixedly arranged on the side plate of the shell away from the motor wheel.

[0017] Preferably, the guide driving rod comprises a guide sliding rod and a unidirectional threaded shaft, the guide sliding rod is arranged at four corners of the guide block and penetrates through, and a counterweight is fixedly arranged on the end of the guide sliding rod; the unidirectional threaded shaft is screwed with the guide block.

[0018] Preferably, the two guide blocks are a first guide block and a second guide block, the support frame is a columnar structure, and the bottom end of the support frame is fixedly connected to the top end of the second guide block; the bottom of the first guide block extends downward to form a sleeve, the sleeve is mounted on the top of the support frame through a bearing, and the outer periphery of the sleeve is provided with a driven gear; the top of the second guide block is fixedly provided with a first motor, and the output end of the first motor is provided with a driving gear which is in meshing connection with the driven gear.

[0019] Preferably, the spray head comprises a high-pressure water spray head and a high-pressure gas spray head, and the connecting sections of the high-pressure water spray head and the high-pressure gas spray head are connected by a hose, and the hose has a corrugated structure.

[0020] A control method for pipeline cleaning by using the device, comprising the following steps:

[0021] S1, close the stop valve of the condenser, after ice removal and impurity removal, open the end cover of the condenser, and fix the two claws of the device on the same condenser pipe;

[0022] S2, start the through shaft motor of the opening and closing adjustment assembly to drive the bidirectional threaded shaft to rotate, so that the two end sliding blocks pull the two side wing plates inward, drive the two side pivot rods to move together, so that the arc-shaped guide plate and the top protrusion move towards the outside of the arc-shaped guide plate, and the driving unit is abutted against the outer wall of the condenser pipe after being pushed out by the top protrusion;

[0023] S3, start the high-pressure water spray head to flush the condenser pipe, and monitor the cleaning situation in real time through the graphic collector; when the preset cleaning degree is reached, start the high-pressure gas spray head to perform blowing and drying treatment, and then start the driving unit to rotate to make the device walk on the condenser pipe for cleaning;

[0024] S4, when the current condenser pipe is cleaned, it is necessary to switch to an adjacent condenser pipe:

[0025] S41, control the first group of lockable moving mechanisms to keep the fastening state of the current condenser pipe through the claws thereof, as a fixed source of the support frame;

[0026] S42, start the through shaft motor of the second group of lockable moving mechanisms to drive the bidirectional threaded shaft to rotate to relatively move the sliding blocks, drive the two side wing plates to relatively move, and release the fixation of the first claw and the second claw on the condenser pipe and open the first claw and the second claw;

[0027] S43, start the second motor to drive the unidirectional threaded shaft to rotate, and under the guidance of the guide sliding rod, the opening and closing adjustment assembly and the claws are close to the support frame;

[0028] S44, control the first motor of the second group of lockable moving mechanisms to adjust the opening and closing adjustment assembly and the claws to rotate to the target condenser pipe, and fix the condenser pipe through the claws, as a new fixed source of the support frame.

[0029] S45, the first group of lockable moving mechanism repeats the steps of the second group of lockable moving mechanism in S42-S44, so that the first group of lockable moving mechanism and the second group of lockable moving mechanism are fixed with the target condenser pipe; continue to execute steps S2-S4 to clean.

[0030] Compared with the prior art, the present application has the following beneficial effects:

[0031] 1, the device through the cooperation of the core components such as supporting frame, paw and opening and closing adjusting assembly, realizes the movable deep cleaning of the device on the outer periphery of the condenser pipe and the quick switching of the position of the device between adjacent condenser pipes, cleans in the narrow space inside the condenser, avoids the residual grease or scale on the condenser pipe, enhances the condensation effect, avoids cross contamination; specifically, the paw adopts a symmetrical clamping structure, cooperates with the design of the arc guide plate and the top convex, can realize flexible movement of the device, and can realize stable locking of the device on the condenser pipe wall; the opening and closing adjusting assembly is provided with a frame structure of U-shaped plate and center shaft, combined with through shaft motor and bidirectional screw shaft, can realize accurate opening and closing control of the paw, and can provide power for the movement of the arc guide plate and the top convex, which is beneficial to the use of the driving unit.

[0032] 2, the opening and closing adjusting assembly of the present application adopts a frame structure of U-shaped plate and center shaft, drives the bidirectional screw shaft to rotate through the through shaft motor, drives the two end sliders to move along the limiting sliding groove, and then drives the two side wings to rotate around the center shaft, realizes the opening and closing action of the paw, realizes the accurate control and synchronous movement of the slider; when the sliders move towards or away from each other, the first paw and the second paw are opened or closed, and when they are closed, the paw clamps the condenser pipe; when the two side wings move, the pivot rod rotates, the pivot rod drives the arc guide plate and the top convex inside the paw to move together, and through the cooperation of the top convex and the driving unit, the switching of the fixing or walking function is realized; the pivot rod drives the linkage mechanism of the arc guide plate and the top convex, which not only ensures the stability of clamping, but also realizes the quick switching of the fixing and walking functions, greatly improves the operation efficiency and adaptability of the device.

[0033] 3, The invention adopts the cooperative working mode of two groups of lockable moving mechanisms, each group of mechanism contains a guide claw, an opening and closing adjusting assembly, a driving rod structure and a guide block; the two groups of lockable moving mechanisms quickly switch positions between adjacent condenser pipes, during the position transfer process, the two groups of mechanisms work alternately and provide support points for each other, quickly transfer in the narrow space inside the condenser and clean, specifically: when the first group of mechanisms is fixed on the cleaned condenser pipe as a fixed source of support frame through the claw, the second group of mechanisms is driven by the first motor to turn to the pipe to be cleaned and complete the fixation; then the second group of mechanisms becomes a new fixed source, so that the first group of mechanisms can be separated from the original pipe and turn to a new cleaning position; this cooperative working mode ensures that one group of mechanisms is always in a fixed state, providing stable support for the device. The cooperation of the counterweight block and the guide slide rod reduces the shaking during rotation, and the support frame serves as a connecting link to realize the coordination of the two groups of mechanisms, which simplifies the structure of the device and improves the continuity and efficiency of the cleaning work. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 is a schematic diagram of the dry condensing vacuum deodorization system in the background art of the invention;

[0035] Figure 2 is a schematic diagram of the cooperation structure of the device installed on the same condenser pipe;

[0036] Figure 3 is a state diagram of the claw structure of the device when it is fastened to the condenser pipe;

[0037] Figure 4 is a split state diagram of the claw structure of the device;

[0038] Figure 5 is a three-dimensional schematic diagram of the overall structure of the driving unit of the device;

[0039] Figure 6 is a three-dimensional schematic diagram of the internal structure of the opening and closing adjusting assembly of the device;

[0040] Figure 7 is a schematic diagram of the internal structure of the opening and closing adjusting assembly and the pivot rod of the device;

[0041] Fig. Condenser system-11; refrigerant circulation system-12; cooling water circulation system-13; vacuum pump system-14; cooling machine system-15; grease mixture-16; steam-17; condenser tube-18; hand claw-19; opening and closing adjusting assembly-20; guide block-21; support frame-22; first motor-23; multi-lumen delivery tube-24; first hand claw-25; second hand claw-26; arc-shaped guide plate-27; top protrusion-28; guide fork-29; first pivot lever-30; housing-31; motor wheel-32; first spring-33; second spring-34; through slot-35; sliding seat-36; second pivot lever-37; hinged seat-38; central shaft-39; U-shaped plate-40; wing plate-41; through shaft motor-42; bidirectional threaded shaft-43; sliding block-44; limiting sliding slot-45; limiting frame-46; second motor-47; unidirectional threaded shaft-48; guide sliding rod-49; counterweight-50. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present application will be clearly and completely described in combination with the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments of the present application.

[0043] The contents not described in detail in the specification belong to the prior art known to those skilled in the art. In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" and the like are only used for differentiation in description, and cannot be understood as indicating or implying relative importance.

[0044] Figures 1-7As shown in the middle, a pipeline cleaning device for oil processing dry condensation vacuum deodorization system, including connecting high pressure water source and high pressure gas source and signal source multi-lumen delivery pipe 24, also including support frame 22, support frame 22 on the axial position set two groups of lockable mobile mechanism, lockable mobile mechanism includes open and close adjusting assembly 20, the blind end of open and close adjusting assembly 20 is connected to guide block 21 through guide drive rod, guide block 21 is installed on support frame 22;The output end of open and close adjusting assembly 20 is connected to hand claw 19, the hand claw 19 is provided with spray head and pattern collector, the spray head and pattern collector are connected to external controller through multi-lumen delivery pipe 24.The through shaft motor 42, the first motor 23, the second motor 47 and the motor wheel motor in the device are all provided with independent power supply or power supply line or control signal line through multi-lumen delivery pipe 24;The pattern collector (not shown in the figure) has the function of light source and camera;The above are all prior art, and the detailed connection mode and principle will not be described in detail.

[0045] The condenser in the application is used for condensing mixed gas, which is directly converted from gaseous state to solid state, and needs to be frozen and gathered inside, so that a suitable distance is arranged between adjacent condensing pipes, which is beneficial to freezing and subsequent cleaning treatment and reserves sufficient space, and the end cover of the condenser is detachable, which is beneficial to subsequent cleaning and other maintenance uses.

[0046] In the application, two groups of lockable mobile mechanisms are arranged on the support frame 22 along the axial position, and the two groups of lockable mobile mechanisms can rotate relative to the support frame 22 for moving to the adjacent condensing pipe 18;The lockable mobile mechanism includes hand claw 19, open and close adjusting assembly 20, guide drive rod and guide block 21, the guide block 21 is connected to the lockable mobile mechanism and the support frame 22, which is beneficial to the relative rotation of the two, the blind end of the open and close adjusting assembly 20 is connected to the guide block 21 through the guide drive rod, and the output end of the open and close adjusting assembly 20 is connected to the hand claw 19;The guide drive rod is used for adjusting the extension distance of the hand claw 19, the open and close adjusting assembly 20 is used for controlling the opening or clamping of the hand claw 19, and the driving unit is arranged in the inner ring of the hand claw 19, which is beneficial to the movement of the whole device on the outer wall of the condensing pipe 18;

[0047] When the two groups of lockable mobile mechanisms clamp the same condensing pipe 18, the driving unit in the hand claw 19 is pushed out of the through slot through the open and close adjusting assembly 20, so that the driving unit contacts the outer wall of the condensing pipe, and the motor wheel 32 of the driving unit is controlled to rotate, so that the device moves on the condensing pipe;During the movement, the pattern collector feeds back the surrounding environment to the external control panel, and then the high-pressure gas spray head and the high-pressure water spray head sprayed by the spray head are used for cleaning and drying the condensing pipe;

[0048] When it is necessary to replace to the adjacent condenser pipe for cleaning, the target condenser is rotated to the target condenser by the rotation of the lockable moving mechanism controlled in turn (two lockable moving mechanisms are marked as head and tail, and the end close to the opening of the condenser is set as the tail).

[0049] The steps are as follows: 1, control the opening and closing adjustment assembly 20 of the top to open the gripper 19; 2, adjust the retraction of the guide drive rod of the top; 3, drive the rotation of the guide block 21 of the top to the target condenser pipe; 4, adjust the extension of the guide drive rod of the top to abut against the target condenser pipe; 5, control the locking of the condenser pipe by the gripper 19 of the top; 6, complete the rotation of the tail of the lockable moving mechanism to the target condenser pipe according to the steps 1-5, and the next cleaning and drying are performed by the device.

[0050] The device of the application can extend into the condenser pipe for cleaning, and the position is adjusted by the structure of the device inside, so that the target condenser pipe is quickly switched, the device is not required to be externally adjusted, time is saved, efficiency is improved, deep cleaning which is difficult to be achieved by manual work is realized, the grease and scale in the condenser pipe are completely removed, the accumulation of residues is reduced, the service life of the equipment is effectively prolonged, and the maintenance work is simplified.

[0051] The spray head comprises a high-pressure air spray head and a high-pressure water spray head, the high-pressure water spray head is arranged on the two outer sides of the device, and the high-pressure air spray head is arranged on the inner side of the device, so that the high-pressure water is used for cleaning first and the high-pressure air is used for further cleaning and drying in the process of reciprocating walking of the device.

[0052] Further, the gripper 19 comprises a first gripper 25 and a second gripper 26 which are arranged in cavities, the first gripper 25 and the second gripper 26 are provided with arc-shaped grooves, two arc-shaped guide plates 27 are slidingly arranged in the arc-shaped grooves, a plurality of through grooves are arranged on the inner arc surfaces of the first gripper 25 and the second gripper 26, the through grooves are communicated with the arc-shaped grooves, a driving unit is slidingly arranged in the through grooves, a through hole is arranged on the outer arc surface of the first gripper 25 and the second gripper 26 and corresponds to the driving unit, a first spring 33 is arranged in the through hole and connects the driving unit and the outer arc surface, a through groove 35 is arranged on the arc-shaped guide plate 27 close to the first spring 33, the first spring 33 is arranged in the through groove 35, and a top protrusion 28 is arranged on the two sides of the through groove 35.

[0053] Referring to Figure 3 and Figure 4The hand claw 19 adopts a symmetrical structure and is composed of a first hand claw 25 and a second hand claw 26. The two hand claws are internally provided with arc-shaped grooves for accommodating arc-shaped guide plates 27. Three through grooves are formed on the inner arc surfaces of the hand claws and are communicated with the arc-shaped grooves for mounting the driving units. The three through grooves are arranged in a circular central array, which is beneficial to the uniform force of the driving units and ensures stability.

[0054] One end of the first spring 33 is fixedly connected with the outer arc surface of the hand claw, and the other end of the first spring 33 is fixedly connected with the blind end of the driving unit after penetrating through the through hole of the outer arc surface of the hand claw and the through groove 35 on the arc-shaped guide plate 27. The driving unit in the through groove always keeps in close contact with the wall of the through groove under the action of the first spring 33, and the normal driving unit is located in the through groove. When the arc-shaped guide plate 27 slides to drive the top protrusion 28 on one side to move, the top protrusion 28 lifts up the driving unit to the outside of the through groove, so that the driving unit contacts the condenser pipe, which is beneficial to the movement of the device on the condenser pipe.

[0055] The through groove 35 on the arc-shaped guide plate 27 provides a channel for the first spring 33 to avoid interference. The top protrusions 28 are arranged on both sides of the through groove 35, and the two top protrusions 28 ensure balance and stability. The edge corner of the driving unit adjacent to the first spring 33 is a round corner, and the middle part is a flat structure, which is beneficial to the quick insertion and lifting of the top protrusion 28. The two sides of the top protrusion 28 are arranged as an inclined angle structure, and the middle part is arranged as a flat structure, which ensures the stability when the top protrusion 28 cooperates with the flat structure of the driving unit. The guide fork 29 at the end of the arc-shaped guide plate 27 is connected with the opening and closing adjusting assembly for controlling the opening and closing action of the hand claw.

[0056] It should be noted that, Figure 3 is the state of the hand claw when it is fastened to the condenser pipe 18. At this time, the driving unit is located in the through groove. When the opening and closing adjusting assembly controls, the hand claw 19 is opened, the first pivot rod 30 and the second pivot rod 37 drive the arc-shaped guide plate 27 to slide outward, so that the top protrusion 28 lifts up the driving unit, which is beneficial to the next movement of the device. The hand claw 19 continues to open, which is used to separate the hand claw from the fixed condenser pipe. In this process, the first pivot rod 30 and the second pivot rod 37 drive the arc-shaped guide plate 27 to continue to slide outward, so that the top protrusion 28 is separated from the driving unit, and the driving unit is returned to the through groove. When clamping the target condenser pipe, the above steps are operated in reverse.

[0057] The above design realizes the switching of the fixed or walking state of the device on the condenser pipe by the arc-shaped guide plate 27 driving the top protrusion 28 and the driving unit, which is simple in structure and convenient to operate.

[0058] A pressure sensor (not shown in the figure) is arranged on the top protrusion 28 or the driving unit, which feedbacks the cooperation state of the driving unit, which is beneficial to more accurate operation. The number of revolutions of the through shaft motor 42 in the opening and closing adjusting assembly 20 is set, which accurately controls the driving unit to be lifted out.

[0059] The through-shaft motor can provide power output at both ends, and the rotational speeds of both ends are consistent. The through-shaft motor can be commercially available, and the working principle is not described in detail.

[0060] Further, the opening and closing adjusting assembly 20 comprises a U-shaped plate 40 and a central shaft 39. The U-shaped plate 40 is symmetrically provided with wing plates 41 on both sides inside. The ends of the two wing plates 41 are respectively fixedly connected with the first claw 25 and the second claw 26. The opposite sides of the two wing plates 41 are installed on the central shaft 39 through a hinge seat 38. A through-shaft motor 42 is fixed in the U-shaped plate 40. A bidirectional threaded shaft 43 is installed on the through-shaft motor 42. Sliders 44 are respectively screwed on both ends of the bidirectional threaded shaft 43. A transmission unit is arranged between the sliders 44 and the wing plates 41. A second motor 47 is arranged on the U-shaped plate 40 and close to the bottom of the guide block 21. A unidirectional threaded shaft 48 is installed on the second motor 47. The unidirectional threaded shaft 48 is screwed with the guide block 21.

[0061] Referring to Figure 3 , Figure 6 and Figure 7 , the opening and closing adjusting assembly 20 adopts a frame structure of the U-shaped plate 40 and the central shaft 39. The U-shaped plate 40 is symmetrically provided with wing plates 41 on both sides inside. The ends of the two wing plates 41 are respectively fixedly connected with the first claw 25 and the second claw 26. The opposite sides of the two wing plates 41 are installed on the central shaft 39 through a hinge seat 38, so as to realize the rotation of the wing plates 41. The rotation of the wing plates 41 drives the first claw 25 and the second claw 26 to open or contract. The through-shaft motor 42 is fixed in the U-shaped plate 40. The through-shaft motor 42 drives the bidirectional threaded shaft 43 to rotate. Sliders 44 are respectively screwed on both ends of the bidirectional threaded shaft 43. When the through-shaft motor 42 rotates, because the screw thread directions of the bidirectional threaded shaft 43 are opposite, the sliders 44 at both ends will simultaneously move inward or outward. The transmission unit arranged between the sliders 44 and the wing plates 41 drives the wing plates 41 to rotate around the central shaft 39, so as to realize the synchronous opening and closing of the first claw 25 and the second claw 26. Meanwhile, the second motor 47 is arranged on the U-shaped plate 40 and close to the bottom of the guide block 21. A unidirectional threaded shaft 48 is installed on the second motor 47 and screwed with the guide block 21. The rotation of the second motor 47 can be controlled to adjust the position of the opening and closing adjusting assembly 20 and the claw 19, and further adjust the extension distance of the entire opening and closing adjusting assembly 20 (relative to the support frame 22).

[0062] Further, the transmission unit comprises a limiting sliding groove 45 and a limiting frame 46. The limiting sliding groove 45 is opened on the wing plate 41 and corresponds to the slider 44. The limiting frame 46 is slidably installed inside the limiting sliding groove 45. A connecting rod is fixedly connected on the slider 44. The other end of the connecting rod is hingedly arranged with the limiting frame 46.

[0063] Referring to 6 and Figure 7The transmission unit realizes motion transmission through the combined structure of the limiting sliding groove 45 and the limiting frame 46. The limiting sliding groove 45 is formed on the wing plate 41 corresponding to the position of the sliding block 44, and the limiting groove 45 has a deepened notch on the upper and lower portions. The limiting frame 46 slides in the notch without disengaging. The limiting frame 46 is slidably installed in the limiting sliding groove 45. The connecting rod is fixedly arranged on the sliding block 44, and the other end of the connecting rod is connected to the limiting frame 46 in a hinged manner. When the wing plate rotates, the limiting frame 46 can displace in multiple directions on the same plane. When the through shaft motor 42 drives the bidirectional threaded shaft 43 to rotate, the sliding block 44 moves along the bidirectional threaded shaft 43, and the limiting frame 46 slides in the limiting sliding groove 45 through the connecting rod. Since the limiting frame 46 is constrained by the limiting sliding groove 45, the reciprocating motion of the connecting rod is converted into the rotation of the wing plate 41, thereby realizing the opening and closing actions of the first gripper 25 and the second gripper 26. The guiding effect of the limiting sliding groove 45 on the limiting frame 46 ensures the stability of the transmission process, and the hinged structure avoids the jamming phenomenon in the transmission process.

[0064] Further, the guide forks 29 are connected to the arc-shaped guide plates 27 through rotating ball joints, and the first pivot rod 30 and the second pivot rod 37 are respectively connected to the two guide forks 29. The square ring at one end of the first pivot rod 30 is arranged on the guide fork 29 of the first gripper 25, the rotating sleeve in the middle of the first pivot rod 30 is arranged on the central shaft 39, and the hinge at the other end of the first pivot rod 30 is slidably arranged on the wing plate on the opposite side. The square ring at one end of the second pivot rod 37 is arranged on the guide fork 29 of the second gripper 26, the rotating sleeve in the middle of the second pivot rod 37 is arranged on the central shaft 39, and the hinge at the other end of the second pivot rod 37 is slidably arranged on the wing plate on the opposite side. The rotating sleeves on the first pivot rod 30 and the second pivot rod 37 are respectively located at the two ends of the central shaft 39.

[0065] Referring to Figure 3 , Figure 4 and Figure 6 , the guide forks 29 are connected to the arc-shaped guide plates 27 through rotating ball joints, which ensures flexible rotation at the connection. The first pivot rod 30 and the second pivot rod 37 are respectively connected to the two guide forks 29. The square ring at one end of the first pivot rod 30 is arranged on the guide fork 29 of the first gripper 25, the rotating sleeve in the middle of the first pivot rod 30 is arranged on the central shaft 39, and the hinge at the other end of the first pivot rod 30 is slidably arranged on the wing plate on the opposite side. The square ring at one end of the second pivot rod 37 is arranged on the guide fork 29 of the second gripper 26, the rotating sleeve in the middle of the second pivot rod 37 is arranged on the central shaft 39, and the hinge at the other end of the second pivot rod 37 is slidably arranged on the wing plate on the opposite side. The rotating sleeves on the first pivot rod 30 and the second pivot rod 37 are respectively located at the two ends of the central shaft 39, forming a cross arrangement.

[0066] When the wings on both sides open and close synchronously, the wings will drive the first pivot rod 30 and the second pivot rod 37 to rotate around the central shaft 29, and at the same time, the arc-shaped guide plates 27 in the first claw 25 and the second claw 26 will move relatively or oppositely, and the top protrusion 28 on the arc-shaped guide plate 27 will touch or release the driving unit in the through slot, so as to switch the position of the driving unit in the through slot, thereby realizing the free conversion between the crawling state and the locking state of the whole device on the surface of the condenser pipe 18.

[0067] The structure of the rotating ball head connection makes the guide fork 29 rotate flexibly to adapt to the movement demand of the arc-shaped guide plate 27, the hinged part is slidingly installed on the wings on the opposite side to adapt to the movement demand of the wings, is flexible and does not jam, the sleeve connection of the square ring provides enough sliding space and does not fall off, and the reliability of the transmission is ensured; the cross arrangement of the two pivot rods and the installation mode of the two ends of the central shaft 39 make the whole transmission system compact in structure and stable in movement; the sliding installation of the hinged part on the wings on the opposite side realizes stable transmission during the opening and closing of the claw, and ensures the accurate positioning and movement control of the arc-shaped guide plate 27.

[0068] The whole device forms a set of precise cooperative movement mechanism through the wings 41, the pivot rods and the arc-shaped guide plates 27, when the through shaft motor 42 drives the bidirectional threaded shaft 43 to rotate, the wings 41 on both sides realize synchronous opening and closing movement under the action of the sliding block 44 and the transmission unit, and this movement drives the two claws to open or shrink through the fixed connection of the end of the wing 41 with the first claw 25 and the second claw 26; at the same time, the movement of the wing 41 drives the hinged part installed on the opposite side thereof, so that the first pivot rod 30 and the second pivot rod 37 rotate around the central shaft 39 in coordination, and since the two pivot rods are cross arranged and connected with the guide fork 29 through the square ring, the rotation is accurately transmitted to the arc-shaped guide plates 27 in the first claw 25 and the second claw 26, so that the arc-shaped guide plates 27 move relatively or oppositely; the top protrusion 28 on the arc-shaped guide plate 27 touches or releases the driving unit, so that the driving unit switches between the position inside and outside the through slot, thereby realizing the free conversion between the crawling state and the locking state of the whole device on the surface of the condenser pipe 18.

[0069] Further, the driving unit comprises a shell 31, a motor wheel 32 is installed inside the shell 31, sliding grooves are formed on both sides of the shell 31, a second spring 34 and a sliding seat 36 are installed in the sliding grooves, both ends of the motor wheel 32 are rotatably installed in the sliding seat 36, and a first spring 33 is fixedly arranged on the side plate of the shell 31 away from the motor wheel 32.

[0070] Referring to Figure 5The driving unit adopts an elastic floating support structure, wherein the shell 31 serves as a base frame, a motor wheel 32 with a power output is internally mounted, a sliding groove is formed on both sides of the shell 31, a second spring 34 and a sliding seat 36 are mounted in the sliding groove, both ends of the motor wheel 32 are rotatably mounted in the sliding seat 36, and a first spring 33 is fixedly arranged on the side plate of the shell 31 away from the motor wheel 32, and the first spring 33 is used for adjusting the reset retraction of the driving unit in the sliding groove.

[0071] When the driving unit works, the motor wheel 32 can realize vertical displacement compensation under the action of the sliding seat 36 and the second spring 34, so that the driving unit can adapt to the concave-convex changes of the surface of the condenser pipe.

[0072] It should be noted that, in the switching process of the hand claw fixed condenser pipe and the walking state, the position of the adjusting convex 28 is adjusted, the extension and contraction of the second spring 34 in the driving unit has a displacement adjustment function, which is beneficial to smooth switching.

[0073] Further, the guide driving rod comprises a guide sliding rod 49 and a one-way threaded shaft 48, the guide sliding rod 49 is arranged at four corners of the guide block 21 and is arranged in a penetrating manner, and a counterweight block 50 is fixedly arranged at the end of the guide sliding rod 49.

[0074] Referring to Figure 3 The guide driving rod adopts a structure design combining guiding and driving, and comprises a guide sliding rod 49 and a one-way threaded shaft 48, wherein the guide sliding rod 49 is arranged at four corners of the guide block 21 and is arranged in a penetrating manner, the guide sliding rod 49 is slidingly arranged in the guide block 21, the counterweight block 50 is arranged at the end of the guide sliding rod 49, when the hand claw 19 is separated from the condenser pipe 18 and is retracted, the second motor 47 drives the one-way threaded shaft 48 to rotate, so that the opening and closing adjusting assembly 20 and the hand claw 19 move towards the guide block 21, the guide sliding rod moves in the guide block 21 and penetrates to the other end, and the counterweight block 50 at the end balances the overall structure.

[0075] When the device of the present application is used to switch positions between two adjacent condenser pipes, the first set of lockable moving mechanisms is fastened on the condenser pipe that has been cleaned to provide a fixed source for the support frame 22, and the second set of lockable moving mechanisms is rotated to the condenser pipe to be cleaned to be fixed. When the first set of lockable moving mechanisms needs to be transferred, the second set of lockable moving mechanisms provides a fixed source for the support frame 22, and finally the first set of lockable moving mechanisms is rotated and fixed to the condenser pipe (also referred to as the target condenser pipe) to be cleaned, which is beneficial to the next cleaning and drying work. During the position switching process between the condenser pipes, the two sets of lockable moving mechanisms provide support for each other, which reduces the equipment and saves the cost.

[0076] Specifically, the present application adopts the cooperative working mode of two groups of lockable moving mechanisms to realize efficient transfer and cleaning between condenser pipes. Specifically, each group of lockable moving mechanisms includes a guide driving rod structure and a gripper 19. The structure drives the one-way threaded shaft 48 to rotate through the second motor 47, drives the opening and closing adjusting assembly 20 and the gripper 19 to move, and the guide slide rod 49 provides stable guiding effect. When the device needs to be transferred between adjacent condenser pipes, first, the first group of lockable moving mechanisms is fastened on the condenser pipe that has been cleaned through the gripper 19, at this time, it serves as the fixed source of the support frame 22, which ensures the stability of the entire device. Then, the second group of lockable moving mechanisms is driven by the first motor 23 to turn to the condenser pipe to be cleaned, and the gripper 19 is expanded and fixed on the target condenser pipe through the mechanism control. When the second group of mechanisms is fixed, it immediately changes into a new fixed source of the support frame 22, so that the first group of lockable moving mechanisms can safely separate from the original condenser pipe and rotate to a new cleaning position for fixation. This alternating cooperative working structure ensures that the two groups of mechanisms always remain in a fixed state, providing stable support for the entire device and ensuring safe and reliable transfer process. The counterweight 50 at the end of the guide slide rod 49 provides balance during mechanism rotation, reducing shaking. The support frame 22 serves as a connecting link, enabling the two groups of mechanisms to coordinate and achieve smooth position conversion. This design not only simplifies the device structure, reduces the need for additional support equipment, but also improves the continuity and efficiency of cleaning work, while significantly reducing equipment costs.

[0077] It should be noted that the configuration block is provided with a channel through which the one-way threaded shaft passes.

[0078] Further, the two guide blocks 21 are a first guide block and a second guide block, the support frame 22 is a columnar structure, the bottom end of the support frame 22 is fixedly connected with the top of the second guide block, the bottom of the first guide block extends downward to form a sleeve, the sleeve is installed on the top of the support frame 22 through a bearing, a driven gear is arranged on the outer periphery of the sleeve, the top of the second guide block is fixedly provided with the first motor 23, the output end of the first motor 23 is provided with a driving gear, and the driving gear is meshed with the driven gear.

[0079] Referring to Figure 2 and Figure 3, two guide blocks 21 are respectively first guide block and second guide block, support frame 22 adopts columnar structure design, its bottom end is fixedly connected with top of second guide block, forms stable support base; sleeve set down at bottom of first guide block is installed at top of support frame 22 through bearing, realizes stable rotation cooperation, driven gear set on the outer periphery of sleeve and driving gear of the output end of first motor 23 fixedly arranged on the top of second guide block form meshing transmission mechanism, when the position of first guide block needs to be adjusted, first motor 23 is started to drive driving gear to rotate, sleeve is driven to rotate through gear meshing, then first guide block is driven to rotate relative to support frame 22, the position conversion of the device between adjacent condenser pipes is realized;The use of bearing in the structure design ensures the stability of the rotation process, the gear transmission provides accurate angle control, the sleeve structure enhances the stability of the whole, and the fixed installation mode of first motor 23 ensures the reliable transmission of driving force, and the whole forms a rotating mechanism with compact structure, accurate transmission and stable operation, effectively improves the working efficiency and reliability of the device when shifting between condenser pipes.

[0080] The control method for pipeline cleaning by using the device comprises the following steps:

[0081] S1, close the stop valve of the condenser, after ice removal and impurity removal, open the end cover of the condenser, and fix the two claws 19 of the device on the same condenser pipe 18;

[0082] S2, start the through shaft motor 42 of the opening and closing adjusting assembly 20 to drive the bidirectional threaded shaft 43 to rotate, so that the two end sliding blocks 44 pull the two side wings 41 inward, drive the two side pivot rods to move together, make the arc-shaped guide plate 27 and the top convex 28 move towards the outside of the arc-shaped guide plate, and the driving unit is pushed out and abuts against the outer wall of the condenser pipe 18 after the top convex 28 is pushed out;

[0083] S3, start the high-pressure water spray head to flush the condenser pipe 18, and monitor the cleaning condition in real time through the graphic collector;When the preset cleaning degree is reached, start the high-pressure air spray head to blow and dry, and then start the driving unit to rotate to make the device walk on the condenser pipe 18 for cleaning;

[0084] S4, when the current condenser pipe 18 is cleaned, it needs to be switched to the adjacent condenser pipe:

[0085] S41, control the first group of lockable moving mechanisms to keep the fastening state of the current condenser pipe 18 through the claws 19, as the fixed source of the support frame 22;

[0086] S42, start the through shaft motor 42 of the second group of lockable moving mechanisms to drive the bidirectional threaded shaft 43 to rotate and make the sliding blocks 44 relatively move, drive the two side wings 41 to relatively move, and realize that the first claw 25 and the second claw 26 are released from the fixation of the condenser pipe 18 and are opened.

[0087] S43, start the second motor 47, drive the unidirectional threaded shaft 48 to rotate, under the guidance of the guide slide rod 49, make the opening and closing adjusting assembly 20 and the hand claw 19 close to the support frame 22;

[0088] S44, control the first motor 23 of the second group of lockable moving mechanisms to adjust the opening and closing adjusting assembly 20 and the hand claw 19 to rotate to the target condenser pipe, and fix the condenser pipe through the hand claw as a new fixed source of the support frame 22;

[0089] S45, the first group of lockable moving mechanisms repeat the steps of the second group of lockable moving mechanisms in S42-S44, so that the first group of lockable moving mechanisms and the second group of lockable moving mechanisms are both fixed with the target condenser pipe; continue to execute steps S2-S4 to perform the cleaning operation.

[0090] The technical concept of the present application is illustrated by the above-mentioned embodiments, but the present application is not limited to the above-mentioned embodiments, that is, it does not mean that the present application must rely on the above-mentioned embodiments to be implemented. It should be understood by those skilled in the art that the related improvements of the present application are within the protection scope and disclosure scope of the present application.

Claims

1. A pipeline cleaning device for a dry condensation vacuum deodorization system for oil processing, comprising a multi-lumen delivery tube (24) connected to a high-pressure water source and a high-pressure gas source and a signal source, a support frame (22) arranged on one side of a condenser tube (18) of a condenser, characterized in that, The support frame (22) is provided with two groups of lockable moving mechanisms in the axial direction, and each lockable moving mechanism comprises an opening and closing adjusting assembly (20). The blind end of the opening and closing adjusting assembly (20) is connected with a guide block (21) through a guide driving rod, and the guide block (21) is installed on the support frame (22). The output end of the opening and closing adjusting assembly (20) is connected with a gripper (19), and a spray head and a pattern collector are arranged on the gripper (19). The spray head and the pattern collector are connected with an external controller through a multi-lumen delivery tube (24). The gripper (19) comprises a first gripper (25) and a second gripper (26), and the first gripper (25) and the second gripper (26) are provided with arc-shaped grooves. Two arc-shaped guide plates (27) are slidingly installed in the arc-shaped grooves. A plurality of through grooves are formed in the inner arc surfaces of the first gripper (25) and the second gripper (26), and the through grooves are communicated with the arc-shaped grooves. A driving unit is slidingly arranged in the through grooves. A through hole is formed in the outer arc surfaces of the first gripper (25) and the second gripper (26) and corresponds to the driving unit. A first spring (33) is arranged in the through hole and connects the driving unit and the outer arc surfaces. A through groove (35) is formed in the arc-shaped guide plate (27) and close to the first spring (33). The first spring (33) is arranged in the through groove (35), and a top protrusion (28) is arranged on the two sides of the through groove (35). A guide fork (29) is arranged on the end of each arc-shaped guide plate (27) close to the opening and closing adjusting assembly.

2. The pipe cleaning device for oil processing dry condensing vacuum deodorization system according to claim 1, characterized in that, The opening and closing adjusting assembly (20) comprises a U-shaped plate (40) and a central shaft (39). Wing plates (41) are symmetrically arranged on the two sides of the inside of the U-shaped plate (40). The ends of the two wing plates (41) are fixedly connected with the first gripper (25) and the second gripper (26) respectively. The opposite sides of the two wing plates (41) are installed on the central shaft (39) through a hinge seat (38). A through-shaft motor (42) is arranged in the U-shaped plate (40). A bidirectional threaded shaft (43) is installed on the through-shaft motor (42). Sliding blocks (44) are screwed on the two ends of the bidirectional threaded shaft (43). A transmission unit is arranged between the sliding blocks (44) and the wing plates (41). A second motor (47) is arranged on the bottom plate of the U-shaped plate (40) close to the guide block (21). A unidirectional threaded shaft (48) is installed on the second motor (47). The unidirectional threaded shaft (48) is screwed with the guide block (21).

3. The pipe cleaning device for oil processing dry condensing vacuum deodorization system according to claim 2, characterized in that, The transmission unit comprises a limiting sliding groove (45) and a limiting frame (46). The limiting sliding groove (45) is formed in the wing plate (41) and corresponds to the sliding block (44). The limiting frame (46) is slidingly installed in the limiting sliding groove (45). A connecting rod is fixedly arranged on the sliding block (44), and the other end of the connecting rod is hingedly arranged with the limiting frame (46).

4. The pipe cleaning device for oil processing dry condensing vacuum deodorization system according to claim 2, characterized in that, Both guide forks (29) are connected with the arc-shaped guide plate (27) through rotating ball head, and the two guide forks (29) are connected with the first pivot lever (30) and the second pivot lever (37) respectively; the square ring of one end of the first pivot lever (30) is arranged on the guide fork (29) of the first jaw (25), the rotating sleeve of the middle part of the first pivot lever (30) is installed on the central shaft (39), and the other end of the first pivot lever (30) is provided with a hinge, which is slidingly installed on the wing plate on the opposite side; the square ring of one end of the second pivot lever (37) is arranged on the guide fork (29) of the second jaw (26), the rotating sleeve of the middle part of the second pivot lever (37) is installed on the central shaft (39), and the other end of the second pivot lever (37) is provided with a hinge, which is slidingly installed on the wing plate on the opposite side; the rotating sleeves on the first pivot lever (30) and the second pivot lever (37) are located at both ends of the central shaft (39) respectively.

5. The pipe cleaning device for oil processing dry condensing vacuum deodorization system according to claim 4, characterized in that, The driving unit comprises a shell (31), a motor wheel (32) is installed inside the shell (31), both sides of the shell (31) are provided with a sliding groove, a second spring (34) and a sliding seat (36) are installed in the sliding groove, both ends of the motor wheel (32) are rotatably installed in the sliding seat (36), and a first spring (33) is fixedly arranged on the side plate of the shell (31) away from the motor wheel (32).

6. The pipe cleaning device for oil processing dry condensing vacuum deodorization system according to claim 1, characterized in that, The guide driving rod comprises a guide sliding rod (49) and a one-way threaded shaft (48), the guide sliding rod (49) is arranged at four corners of the guide block (21) and is slidingly arranged, and a counterweight (50) is fixedly arranged at the end of the guide sliding rod (49); the one-way threaded shaft (48) is screwed with the guide block (21).

7. The pipe cleaning device for oil processing dry condensing vacuum deodorization system according to claim 1, characterized in that, The two guide blocks (21) are a first guide block and a second guide block respectively, the support frame (22) is in a columnar structure, and the bottom end of the support frame (22) is fixedly connected with the top end of the second guide block; the bottom of the first guide block extends downward to form a sleeve, the sleeve is installed on the top of the support frame (22) through a bearing, a driven gear is arranged on the outer periphery of the sleeve, the top of the second guide block is fixedly provided with a first motor (23), the output end of the first motor (23) is provided with a driving gear, and the driving gear is engaged with the driven gear.

8. The pipe cleaning device for oil processing dry condensing vacuum deodorization system according to claim 1, characterized in that, The spray head comprises a high-pressure water spray head and a high-pressure gas spray head, and the connecting sections of the high-pressure water spray head and the high-pressure gas spray head are connected through a hose, and the hose has a corrugated structure.

9. A control method for line cleaning using the apparatus of claim 5, characterized by, The method comprises the following steps: S1, close the stop valve of the condenser, after ice melting and impurity removal, open the end cover of the condenser, and fix and install two jaws (19) of the device on the same condenser pipe (18); S2, start the opening and closing adjusting assembly (20) to drive the wing plates (41) on both sides to move towards each other, drive the pivot levers on both sides to move together, make the arc-shaped guide plate (27) and the top convex (28) move towards the outside of the arc-shaped guide plate, and after the driving unit is pushed out by the top convex (28), abut against the outer wall of the condenser pipe (18); S3, start the high-pressure water spray head to flush the condenser pipe (18), and monitor the cleaning condition in real time through the image collector; when the preset cleanliness is reached, start the high-pressure gas spray head to perform blowing and drying treatment, and then start the driving unit to make the device walk on the condenser pipe (18) to clean; S4, when the current condenser tube (18) is cleaned, it is necessary to switch to the adjacent condenser tube: S41, control the first group of lockable moving mechanism to keep the fastening state of the current condenser tube (18) through its gripper (19), as the fixed source of the support frame (22); S42, start the through shaft motor (42) of the second group of lockable moving mechanism, drive the bidirectional threaded shaft (43) to rotate and make the two sliders (44) move relatively, drive the two side wings (41) to move relatively, realize the first gripper (25) and the second gripper (26) to release the fixation of the condenser tube (18) and open; S43, start the second motor (47), drive the unidirectional threaded shaft (48) to rotate, under the guidance of the guide slide rod (49), make the opening and closing adjusting assembly (20) and the gripper (19) close to the support frame (22); S44, control the first motor (23) of the second group of lockable moving mechanism to rotate, make the opening and closing adjusting assembly (20) and the gripper (19) rotate to the target condenser tube, and fix the condenser tube through the gripper, as the new fixed source of the support frame (22); S45, the first group of lockable moving mechanism repeats the steps S42-S44 of the second group of lockable moving mechanism, so that the first group of lockable moving mechanism and the second group of lockable moving mechanism are fixed with the target condenser tube; Continue to execute steps S2-S4 to carry out cleaning operation.

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