Large-caliber thermal long-distance pipeline cleaning device

Abstract

The invention belongs to the technical field of pipe cleaning devices, and particularly relates to a large-caliber thermal long-distance pipeline cleaning device which comprises a power-assisted crawling robot, and the two ends of the power-assisted crawling robot are connected with a universal connecting mechanism and a flushing mechanism correspondingly. The water pressure in the hydraulic pipe cleaning mechanism can be controlled and adjusted by controlling the flow of water through the first flow control valve and the second flow control valve, and the hydraulic bag can be controlled to expand or contract by adjusting the water pressure in the hydraulic pipe cleaning mechanism, so that the hydraulic bag can adapt to pipelines with different pipe diameters; when the hydraulic bag is controlled to be expanded to a certain degree, the hydraulic pipe cleaning mechanism can be fixed through the hydraulic bag, so that power-assisted crawling is conveniently realized by matching with a power-assisted crawling robot subsequently; the hydraulic pipe cleaning mechanism can be prevented from moving backwards under the action of reverse thrust to influence normal wriggling and crawling when the telescopic mechanism on the power-assisted crawling robot controls the front end part to extend forwards, and the practicability of the pipe cleaning device can be effectively improved.

Description

Technical Field

[0001] The invention belongs to the technical field of pipe cleaning devices, and in particular relates to a pipe cleaning device for a large-diameter long-distance thermal transmission pipeline. Background Art

[0002] With the improvement of the coverage rate of urban centralized heating pipelines, more and more cities are using large-diameter and long-distance heating pipelines. In the construction of large-diameter and long-distance heating pipelines, due to the long distance of pipeline laying and the complex installation process of the pipeline network, some debris will inevitably be retained in the pipeline during the transportation, pipe laying, connection, welding and other construction processes. During the flushing and trial operation of the pipeline network after installation, it is not only easy to cause pipeline blockage, but also easy to damage valves, pump groups, heat exchangers and other pipeline equipment. In order to ensure the cleanliness and smoothness of the inside of the pipeline and avoid the above situation, it is necessary to use a pipe cleaning device to clean the inside of the laid pipeline; The existing pipe cleaning devices cannot adapt to pipes of different diameters during actual use, and cannot adapt to the deformation and complex inner wall structure of large-diameter pipes. They are prone to jamming or vibration when passing through curved pipes, and the pipe cleaning effect is poor.

[0003] In order to solve the above problems, the present application proposes a large-diameter long-distance thermal pipeline cleaning device. Summary of the invention

[0004] The present invention provides a large-diameter long-distance thermal pipeline cleaning device, which can effectively solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a large-diameter long-distance thermal pipeline cleaning device, comprising a power-assisted crawling robot, wherein both ends of the power-assisted crawling robot are respectively connected to a universal connection mechanism and a flushing mechanism, and the end of the universal connection mechanism away from the power-assisted crawling robot is connected to a hydraulic cleaning mechanism, as shown in the attached manual. Figure 3 The hydraulic cleaning mechanism 4 shown in the figure is provided with an annular waterproof cover inside, and a battery and a control module are provided inside the waterproof cover for powering and controlling the cleaning device. This is a prior art, so it will not be described in detail. The hydraulic cleaning mechanism is provided with a hydraulic sensor, and a self-locking pulley assembly is fixedly provided on the outer side of one end of the power-assisted crawling robot in the circumferential direction; The hydraulic pipe cleaning mechanism includes a cylinder and hydraulic bags equidistantly arranged on the outside of the cylinder, V-shaped plugging parts are equidistantly arranged on the hydraulic bags, a first flow control valve and a second flow control valve are respectively provided at the water inlet and the water outlet at both ends of the cylinder, a submersible pump is fixedly provided at one end of the first flow control valve, and the submersible pump is fixedly installed at one end of the cylinder through a bracket.

[0006] Preferably, the assisted crawling robot includes a rear end portion and a front end portion with one end inserted into the rear end portion. A flow equalizing plate with a through hole is fixedly arranged inside one end of the rear end portion. One side of the flow equalizing plate is fixedly provided with a telescopic mechanism, and the outer side of the telescopic mechanism is fixedly connected to the front end portion through a support rod.

[0007] Preferably, a guiding slideway is formed on the inner wall of the rear end portion, and a guiding slider is fixedly arranged on the outer side of the front end portion, and the guiding slider is slidably arranged in the guiding slideway.

[0008] Preferably, the telescopic mechanism includes a driving motor fixedly installed on one side of the flow equalizing plate. The end of the output shaft of the driving motor is fixedly connected with a lead screw. A driving nut sleeve is sleeved on the outer side of the lead screw, and the outer side of the driving nut sleeve is fixedly connected to the front end portion through a support rod.

[0009] Preferably, the universal connection mechanism includes a connection ball core and a connection ball sleeve sleeved on the outer side of the connection ball core. A first connection portion and a through notch are respectively arranged on both sides of the connection ball core, and a second connection portion is arranged on one side of the connection ball sleeve.

[0010] Preferably, the outer diameter dimension of the connection ball core matches the inner diameter dimension of the connection ball sleeve, and the first connection portion is fixedly arranged at one end of the hydraulic pipe cleaning mechanism through a support rod.

[0011] Preferably, the flushing mechanism includes a conical head rotatably arranged at one end of the front end portion through a bearing. A cleaning assembly and flushing nozzles are circumferentially arranged on the outer side of the conical head.

[0012] Preferably, the cleaning assembly includes a telescopic rod member fixedly arranged on the outer side of the conical head and a cleaning brush fixedly arranged at one end of the telescopic rod member. A spring member is fixedly connected between the cleaning brush and the conical head, and the spring member is sleeved on the outer side of the telescopic rod member.

[0013] Preferably, the cleaning assembly and the flushing nozzles are arranged alternately on the outer side of the conical head, and the flushing nozzles are arranged at a certain inclination angle.

[0014] Preferably, the self-locking pulley assembly includes a waterproof electric telescopic rod. One end of the waterproof electric telescopic rod is fixedly connected with a rectangular plate member. Installation grooves are symmetrically formed on the rectangular plate member. A return spring is fixedly arranged at the bottom of the inner cavity of the installation groove. One end of the return spring is fixedly connected with an installation table. A guiding pulley is rotatably arranged in a groove at the end of the installation table. Rubber anti-slip strips are fixedly arranged at equal intervals at the end of the rectangular plate member.

[0015] Compared with the prior art, the beneficial effects of the present invention are: Put the pigging device into the pipeline from one end of the pipeline, and then inject water into the pipeline. The water pressure can be used to push the pigging device to move in the pipeline. The moving pigging device will finally be discharged from the other end of the pipeline. When the pigging device is discharged from the other end of the pipeline, it can take out the impurities in the pipeline together, which can quickly clean the pipeline and is convenient to use.

[0016] By setting a hydraulic pigging mechanism, the submersible pump on the hydraulic pigging mechanism can suck the water injected into the pipeline to push the pigging device to move into the internal part of the hydraulic pigging mechanism. By controlling the water flow through the first flow control valve and the second flow control valve, the water pressure in the hydraulic pigging mechanism can be controlled and adjusted. By adjusting the water pressure in the hydraulic pigging mechanism, the hydraulic bladder can be controlled to expand or contract. This not only enables the hydraulic bladder to adapt to pipelines with different diameters, but also when the hydraulic bladder expands to a certain extent, the hydraulic pigging mechanism can be fixed through the hydraulic bladder, which is convenient for subsequent cooperation with the assisted crawling robot to achieve assisted crawling. It can avoid the backward movement of the hydraulic pigging mechanism under the action of the reaction force when the telescopic mechanism on the assisted crawling robot controls the front end to extend forward, affecting the normal peristaltic crawling, and can effectively improve the practicability of the pigging device.

[0017] By setting an assisted crawling robot, after the assisted crawling robot controls the front end to extend forward through the telescopic mechanism on it, the self-locking pulley assembly is synchronously controlled to be self-locked to fix the front end, and then the telescopic mechanism is controlled to contract to pull the hydraulic pigging mechanism to crawl forward peristaltically. When there are too many impurities in the pipeline and the water pressure alone is not enough to push the pigging device to continue moving in the pipeline, it can provide additional crawling power for the pigging device. By setting a universal connection mechanism, on the premise of ensuring the through connection between the assisted crawling robot and the hydraulic pigging mechanism, the assisted crawling robot and the hydraulic pigging mechanism can be rotated and adjusted, which can avoid the phenomenon of jamming or tremor during the movement of the pigging device due to different rotation angles between the assisted crawling robot and the hydraulic pigging mechanism when the pigging device passes through the elbow pipe, and is convenient for the pigging device to crawl in the curved pipeline.

[0018] After the submersible pump sucks the water injected into the pipeline to push the pigging device to move into the internal part of the hydraulic pigging mechanism and cooperates with the first flow control valve and the second flow control valve to control and adjust the water pressure in the hydraulic pigging mechanism, the water discharged from the second flow control valve flows into the internal part of the assisted crawling robot through the universal connection mechanism and finally sprays out from the flushing nozzle on the flushing mechanism, which can flush the inner wall of the pipeline. During the flushing process, the reaction force of the sprayed water flow can be used to drive the conical head and the cleaning component to rotate, and the internal part of the pipeline can be brushed through the cleaning component, and the pigging effect is good. Description of the Drawings

[0019] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention. In the drawings: Figure 1 is a schematic structural diagram when a pigging device for a large-diameter thermal long-distance pipeline of the present invention is working; Figure 2 is a schematic structural diagram of a pigging device for a large-diameter thermal long-distance pipeline of the present invention; Figure 3 is a sectional view of a pigging device for a large-diameter thermal long-distance pipeline of the present invention; Figure 4 is a schematic structural diagram of the connection between a boosting crawling robot and a flushing mechanism in the present invention; Figure 5 is a schematic structural diagram of the connection among a universal joint mechanism, a boosting crawling robot and a flushing mechanism in the present invention; Figure 6 is the present invention Figure 5 a schematic enlarged structural diagram at position A therein; Figure 7 is the present invention Figure 5 a schematic enlarged structural diagram at position B therein; Figure 8 is a sectional structural diagram of the boosting crawling robot in the present invention.

[0020] In the figure: 1. Boosting crawling robot; 101. Rear end part; 102. Front end part; 103. Flow equalizing plate; 104. Telescopic mechanism; 1041. Driving motor; 1042. Lead screw; 1043. Driving nut sleeve; 105. Guide slideway; 106. Guide slider; 2. Universal joint mechanism; 201. Connecting ball core; 202. Connecting ball sleeve; 203. First connecting part; 204. Through notch; 205. Second connecting part; 3. Flushing mechanism; 301. Conical head; 302. Cleaning assembly; 3021. Telescopic rod member; 3022. Cleaning brush; 3023. Spring member; 303. Flushing nozzle; 4. Hydraulic pigging mechanism; 401. Cylinder body; 402. Hydraulic bladder; 403. V-shaped sealing part; 404. First flow control valve; 405. Second flow control valve; 406. Submersible pump; 5. Hydraulic sensor; 6. Self-locking pulley assembly; 601. Waterproof type electric telescopic rod; 602. Rectangular plate member; 603. Installation groove; 604. Return spring; 605. Installation platform; 606. Guide pulley; 607. Rubber anti-slip strip. Detailed implementation manners

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0022] An embodiment is as follows Figures 1-8 As shown, a pigging device for a large-diameter long-distance thermal pipeline includes a boosting crawling robot 1. Both ends of the boosting crawling robot 1 are respectively connected with a universal connection mechanism 2 and a flushing mechanism 3. One end of the universal connection mechanism 2 away from the boosting crawling robot 1 is connected with a hydraulic pigging mechanism 4. As shown in the attached Figure 3 drawing, an annular waterproof cover is provided inside the hydraulic pigging mechanism 4. A battery and a control module are provided inside the waterproof cover for supplying power and controlling the pigging device. This is the prior art, so it will not be described in detail. A hydraulic sensor 5 is provided on the hydraulic pigging mechanism 4. A self-locking pulley assembly 6 is circumferentially fixed on the outer side of one end of the boosting crawling robot 1. By setting the universal connection mechanism 2, on the premise of ensuring the through connection between the boosting crawling robot 1 and the hydraulic pigging mechanism 4, the boosting crawling robot 1 and the hydraulic pigging mechanism 4 can be rotationally adjusted, which can avoid the phenomenon of jamming or tremor during the movement of the pigging device due to different rotation angles between the boosting crawling robot 1 and the hydraulic pigging mechanism 4 when the pigging device passes through a bent pipe, and facilitate the pigging device to crawl in the bent pipeline; The hydraulic pigging mechanism 4 includes a cylinder body 401 and hydraulic capsules 402 arranged at equal intervals on the outer side of the cylinder body 401. V-shaped sealing parts 403 are arranged at equal intervals on the hydraulic capsules 402. By setting the V-shaped sealing parts 403, the sealing performance between the hydraulic capsules 402 and the pipeline can be improved, so that the hydraulic capsules 402 can better contact the inner wall of the pipeline, and it can be avoided that impurities flow through the gap between the hydraulic capsules 402 and the pipeline during the pigging operation, resulting in incomplete cleaning, and the pigging effect can be effectively improved. At the water inlet and outlet at both ends of the cylinder body 401, a first flow control valve 404 and a second flow control valve 405 are respectively arranged. A submersible pump 406 is fixedly arranged at one end of the first flow control valve 404, and the submersible pump 406 is fixedly installed at one end of the cylinder body 401 through a bracket. The hydraulic pigging mechanism 4 sucks the water injected into the pipeline to push the pigging device to move into the hydraulic pigging mechanism 4 through the submersible pump 406 thereon, and then the water pressure in the hydraulic pigging mechanism 4 can be controlled and adjusted by controlling the water flow through the first flow control valve 404 and the second flow control valve 405. By adjusting the water pressure in the cylinder body 401, the expansion or contraction of the hydraulic capsules 402 can be controlled. Not only can the hydraulic capsules 402 be adapted to pipelines with different diameters, but when the hydraulic capsules 402 are continuously expanded, the friction force between the hydraulic capsules 402 and the inner wall of the pipeline will continuously increase. When the friction force increases to a certain extent, the hydraulic pigging mechanism 4 can be fixed through the hydraulic capsules 402, which is convenient for subsequent cooperation with the assisted crawling robot 1 to realize assisted crawling, and it can be avoided that the hydraulic pigging mechanism 4 moves backward under the action of the reaction force when the telescopic mechanism 104 on the assisted crawling robot 1 controls the front end part 102 to extend forward, affecting the normal peristaltic crawling, and the practicability of the pigging device can be effectively improved.

[0023] As a further implementation of the above invention: The assisted crawling robot 1 includes a rear end part 101 and a front end part 102 with one end inserted into the rear end part 101. A flow equalizing plate 103 with a through hole is fixedly arranged inside one end of the rear end part 101. A telescopic mechanism 104 is fixedly arranged on one side of the flow equalizing plate 103, and the outer side of the telescopic mechanism 104 is fixedly connected to the front end part 102 through a support rod. After the assisted crawling robot 1 controls the front end part 102 to extend forward through the telescopic mechanism 104 thereon, the self-locking pulley assembly 6 is synchronously controlled to be self-locked to fix the front end part 102, and then the telescopic mechanism 104 is controlled to contract to pull the hydraulic pigging mechanism 4 to move forward peristaltically, which can provide additional crawling power for the pigging device when there are too many impurities in the pipeline and the water pressure alone is not enough to push the pigging device to continue moving in the pipeline.

[0024] As a further embodiment of the above invention: a guiding slideway 105 is provided on the inner wall of the rear end portion 101, a guiding slide block 106 is fixedly provided on the outer side of the front end portion 102, and the guiding slide block 106 is slidably arranged in the guiding slideway 105. The front end portion 102 is slidably installed in the rear end portion 101 through the guiding slide block 106 and the guiding slideway 105, and can perform telescopic movement stably.

[0025] As a further embodiment of the above invention: the telescopic mechanism 104 includes a driving motor 1041 fixedly installed on one side of the flow equalizing plate 103. The end of the output shaft of the driving motor 1041 is fixedly connected with a lead screw 1042. A driving nut sleeve 1043 is sleeved on the outer side of the lead screw 1042, and the outer side of the driving nut sleeve 1043 is fixedly connected with the front end portion 102 through a support rod. When the driving motor 1041 drives the lead screw 1042 to rotate forward and backward, the driving nut sleeve 1043 can be controlled to move back and forth. When the driving nut sleeve 1043 moves back and forth, the front end portion 102 can be driven to telescopically move back and forth.

[0026] As a further embodiment of the above invention: the universal connection mechanism 2 includes a connection ball core 201 and a connection ball sleeve 202 sleeved on the outer side of the connection ball core 201. A first connection portion 203 and a through notch 204 are respectively provided on both sides of the connection ball core 201. A second connection portion 205 is provided on one side of the connection ball sleeve 202. The connection ball core 201 and the connection ball sleeve 202 are rotatably connected. When rotating, the first connection portion 203 will also be continuously connected with the second connection portion 205 through the through notch 204. On the premise of ensuring the through connection between the assisting crawling robot 1 and the hydraulic pigging mechanism 4, the assisting crawling robot 1 and the hydraulic pigging mechanism 4 can be rotationally adjusted, and it can be avoided that when the pigging device passes through the elbow pipe, the assisting crawling robot 1 and the hydraulic pigging mechanism 4 are blocked or vibrated during the movement of the pigging device due to different rotation angles.

[0027] As a further embodiment of the above invention: the outer diameter dimension of the connection ball core 201 matches the inner diameter dimension of the connection ball sleeve 202, and the first connection portion 203 is fixed to one end of the hydraulic pigging mechanism 4 through a support rod. On the premise of ensuring the rotational connection between the connection ball core 201 and the connection ball sleeve 202, the sealing performance between the connection ball core 201 and the connection ball sleeve 202 can be ensured, and water leakage during transportation can be effectively avoided.

[0028] As a further embodiment of the above invention: The flushing mechanism 3 includes a conical head 301 rotatably arranged at one end of the front end portion 102 through a bearing. A cleaning assembly 302 and a flushing nozzle 303 are circumferentially arranged on the outer side of the conical head 301. The submersible pump 406 sucks the water injected into the pipeline to push the pigging device to move into the internal hydraulic pigging mechanism 4. After controlling and adjusting the water pressure in the hydraulic pigging mechanism 4 in cooperation with the first flow control valve 404 and the second flow control valve 405, the water discharged from the second flow control valve 405 then flows into the internal of the assisting crawling robot 1 through the universal connection mechanism 2, and finally sprays out from the flushing nozzle 303 on the flushing mechanism 3, which can flush the inner wall of the pipeline. During the flushing process, the reaction force of the ejected water flow can drive the rotation of the conical head 301 and the cleaning assembly 302, and the internal of the pipeline can be scrubbed by the cleaning assembly 302.

[0029] As a further embodiment of the above invention: The cleaning assembly 302 includes a telescopic rod member 3021 fixedly arranged on the outer side of the conical head 301 and a cleaning brush 3022 fixedly arranged at one end of the telescopic rod member 3021. A spring member 3023 is fixedly connected between the cleaning brush 3022 and the conical head 301, and the spring member 3023 is sleeved on the outer side of the telescopic rod member 3021. The cooperation of the telescopic rod member 3021 and the spring member 3023 enables the cleaning brush 3022 to be telescopic to a certain extent, and can adapt to pipelines with different diameters.

[0030] As a further embodiment of the above invention: The cleaning assembly 302 and the flushing nozzle 303 are staggered and arranged on the outer side of the conical head 301, and the flushing nozzle 303 is arranged at a certain inclination angle. The flushing nozzle 303 is arranged at a certain inclination angle, so that during the flushing process, the reaction force of the ejected water flow can drive the rotation of the conical head 301 and the cleaning assembly 302.

[0031] As a further embodiment of the above invention: The self-locking pulley assembly 6 includes a waterproof electric telescopic rod 601. One end of the waterproof electric telescopic rod 601 is fixedly connected to a rectangular plate member 602. Installation grooves 603 are symmetrically formed on the rectangular plate member 602. A return spring 604 is fixedly provided at the bottom of the inner cavity of the installation groove 603. One end of the return spring 604 is fixedly connected to an installation platform 605. A guiding pulley 606 is rotatably provided in the groove at the end of the installation platform 605. Rubber anti-slip strips 607 are fixedly provided at equal intervals at the end of the rectangular plate member 602. By controlling the telescopic movement of the waterproof electric telescopic rod 601, the unfolding degree of the rectangular plate member 602 can be adjusted. When the rectangular plate member 602 is unfolded to a certain position, the guiding pulley 606 just abuts against the inner wall of the pipeline. At this time, the self-locking pulley assembly 6 can play a guiding role, facilitating the movement of the pipeline cleaning device in the pipeline. Continuing to control the waterproof electric telescopic rod 601 to extend, the installation platform 605 can be pushed into the interior of the installation groove 603. When the installation platform 605 retracts into the interior of the installation groove 603, the rubber anti-slip strips 607 will contact the inner wall of the pipeline. At this time, the self-locking pulley assembly 6 will be self-locked, and the front end portion 102 can be fixed. Then, by controlling the contraction of the telescopic mechanism 104, the hydraulic pipeline cleaning mechanism 4 can be pulled to creep forward. When there are too many impurities in the pipeline and the water pressure alone is not sufficient to push the pipeline cleaning device to continue moving in the pipeline, an additional crawling force can be provided for the pipeline cleaning device.

[0032] During specific implementation: The pipeline cleaning device is placed into the pipeline from one end of the pipeline, and then water is injected into the pipeline. The water pressure can be used to push the pipeline cleaning device to move in the pipeline. The moving pipeline cleaning device is finally discharged from the other end of the pipeline. When the pipeline cleaning device is discharged from the other end of the pipeline, the impurities in the pipeline can be taken out together. The hydraulic pipeline cleaning mechanism 4 sucks the water injected into the pipeline to push the pipeline cleaning device to move into the interior of the hydraulic pipeline cleaning mechanism 4 through the submersible pump 406 thereon, and then the flow rate of the water can be controlled by the first flow control valve 404 and the second flow control valve 405 to control and adjust the water pressure in the hydraulic pipeline cleaning mechanism 4. By adjusting the water pressure in the cylinder body 401, the hydraulic bladder 402 can be controlled to expand or contract. This not only enables the hydraulic bladder 402 to adapt to pipelines with different diameters, but also when the hydraulic bladder 402 is expanded to a certain extent, the hydraulic pipeline cleaning mechanism 4 can be fixed through the hydraulic bladder 402, facilitating subsequent cooperation with the assisting crawling robot 1 to achieve assisting crawling, and can avoid the backward movement of the hydraulic pipeline cleaning mechanism 4 under the action of the reaction force when the telescopic mechanism 104 on the assisting crawling robot 1 controls the front end portion 102 to extend forward, affecting the normal creeping movement. The submersible pump 406 sucks the water injected into the pipeline to push the pigging device to move into the hydraulic pigging mechanism 4. After controlling and adjusting the water pressure in the hydraulic pigging mechanism 4 in cooperation with the first flow control valve 404 and the second flow control valve 405, the water discharged from the second flow control valve 405 then flows into the assisting crawling robot 1 through the universal connection mechanism 2 and finally sprays out from the flushing nozzle 303 on the flushing mechanism 3, which can flush the inner wall of the pipeline. During the flushing process, the reaction force of the ejected water flow can drive the conical head 301 and the cleaning component 302 to rotate, and the inner part of the pipeline can be scrubbed through the cleaning component 302. The telescopic rod 3021 and the spring 3023 are used in cooperation so that the cleaning brush 3022 can be telescoped to a certain extent to adapt to pipelines with different diameters. After the assisting crawling robot 1 controls the front end 102 to extend forward through the telescopic mechanism 104 thereon, it synchronously controls the self-locking pulley assembly 6 to lock and fix the front end 102, and then controls the telescopic mechanism 104 to contract to pull the hydraulic pigging mechanism 4 to creep forward. When there are too many impurities in the pipeline and the water pressure alone is not enough to push the pigging device to continue moving in the pipeline, it can provide additional crawling power for the pigging device. The universal connection mechanism 2 can enable the assisting crawling robot 1 and the hydraulic pigging mechanism 4 to rotate and adjust on the premise of ensuring the through connection between the assisting crawling robot 1 and the hydraulic pigging mechanism 4, which can avoid the phenomena of jamming or tremor during the movement of the pigging device due to different rotation angles between the assisting crawling robot 1 and the hydraulic pigging mechanism 4 when the pigging device passes through the elbow pipe.

[0033] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A pigging device for large-diameter long-distance thermal pipelines, comprising an assisted crawling robot (1), characterized in that: Both ends of the assisted crawling robot (1) are respectively connected with a universal connection mechanism (2) and a flushing mechanism (3). One end of the universal connection mechanism (2) far from the assisted crawling robot (1) is connected with a hydraulic pipe cleaning mechanism (4). A hydraulic sensor (5) is arranged on the hydraulic pipe cleaning mechanism (4). A self-locking pulley assembly (6) is circumferentially and fixedly arranged on the outer side of one end of the assisted crawling robot (1). The hydraulic pipe cleaning mechanism (4) includes a cylinder body (401) and hydraulic capsules (402) arranged equidistantly on the outer side of the cylinder body (401). V-shaped blocking parts (403) are arranged equidistantly on the hydraulic capsules (402). A first flow control valve (404) and a second flow control valve (405) are respectively arranged at the water inlet and the water outlet at both ends of the cylinder body (401). A submersible pump (406) is fixedly arranged at one end of the first flow control valve (404), and the submersible pump (406) is fixedly installed at one end of the cylinder body (401) through a bracket.

2. The pigging device for large-diameter long-distance thermal pipelines according to claim 1, wherein: The assisted crawling robot (1) includes a rear end part (101) and a front end part (102) with one end inserted into the rear end part (101). A flow equalizing plate (103) with a through hole is fixedly arranged inside one end of the rear end part (101). A telescopic mechanism (104) is fixedly arranged on one side of the flow equalizing plate (103), and the outer side of the telescopic mechanism (104) is fixedly connected with the front end part (102) through a support rod.

3. The pigging device for large-diameter long-distance thermal pipelines according to claim 2, characterized in that: A guiding slideway (105) is arranged on the inner wall of the rear end part (101). A guiding slider (106) is fixedly arranged on the outer side of the front end part (102), and the guiding slider (106) is slidably arranged in the guiding slideway (105).

4. The pigging device for large-diameter long-distance thermal pipelines according to claim 2, wherein: The telescopic mechanism (104) includes a driving motor (1041) fixedly installed on one side of the flow equalizing plate (103). The end of the output shaft of the driving motor (1041) is fixedly connected with a lead screw (1042). A driving nut sleeve (1043) is sleeved on the outer side of the lead screw (1042), and the outer side of the driving nut sleeve (1043) is fixedly connected with the front end part (102) through a support rod.

5. The pigging device for large-diameter long-distance thermal pipelines according to claim 1, characterized in that: The universal connection mechanism (2) includes a connection ball core (201) and a connection ball sleeve (202) sleeved on the outer side of the connection ball core (201). A first connection part (203) and a through notch (204) are respectively arranged on both sides of the connection ball core (201). A second connection part (205) is arranged on one side of the connection ball sleeve (202).

6. The pigging device for large-diameter long-distance thermal pipelines according to claim 5, wherein: The outer diameter dimension of the connection ball core (201) matches the inner diameter dimension of the connection ball sleeve (202), and the first connection part (203) is fixed at one end of the hydraulic pipe cleaning mechanism (4) through a support rod.

7. The pigging device for large-diameter long-distance thermal pipelines according to claim 2, characterized in that: The flushing mechanism (3) includes a conical head (301) rotatably arranged at one end of the front end part (102) through a bearing. A cleaning component (302) and a flushing nozzle (303) are arranged circumferentially on the outer side of the conical head (301).

8. The pigging device for large-diameter long-distance thermal pipelines according to claim 7, characterized in that: The cleaning assembly (302) includes a telescopic rod member (3021) fixedly arranged on the outer side of the conical head (301) and a cleaning brush (3022) fixedly arranged at one end of the telescopic rod member (3021). A spring member (3023) is fixedly connected between the cleaning brush (3022) and the conical head (301), and the spring member (3023) is sleeved on the outer side of the telescopic rod member (3021).

9. The pigging device for large-diameter long-distance thermal pipelines according to claim 7, characterized in that: The cleaning assembly (302) and the flushing nozzle (303) are arranged alternately on the outer side of the conical head (301), and the flushing nozzle (303) is arranged at a certain inclination angle.

10. A pigging device for large-diameter long-distance thermal pipelines according to claim 1, characterized in that: The self-locking pulley assembly (6) includes a waterproof electric telescopic rod (601). One end of the waterproof electric telescopic rod (601) is fixedly connected with a rectangular plate member (602). Mounting grooves (603) are symmetrically formed in the rectangular plate member (602). A return spring (604) is fixedly arranged at the bottom of the inner cavity of the mounting groove (603). One end of the return spring (604) is fixedly connected with a mounting table (605). A guiding pulley (606) is rotatably arranged in a groove at the end of the mounting table (605). Rubber anti-slip strips (607) are fixedly arranged at equal intervals at the end of the rectangular plate member (602).

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