Intelligent rust removal equipment for industrial pipeline

Abstract

The invention relates to the field of pipeline cleaning, in particular to intelligent rust removal equipment for industrial pipelines. According to the intelligent rust removal equipment for the industrial pipeline, the telescopic rotating arms on the rotating disc control the inclined supporting trundles to be tightly attached to the inner wall of the pipeline body to move in a spiral advancing track to conduct close-range cleaning and rust removal work, and the phenomenon that the inclined supporting trundles slip on the inner wall of the pipeline body is reduced; when the measuring sensor monitors that the center position of the branch pipe aligned with the pipeline body is aligned, the electric control rotating frame and the electric control sliding rail on the fixing frame control the rotating disc and the inclined supporting trundles on the rotating arms to turn over and enter the center of the branch pipe of the pipeline body, and intelligent and automatic steering is achieved to enter the branch pipe of the pipeline for close-range cleaning and rust removing work. The technical problems that when cleaning and derusting equipment passes through oil stains on the inner wall of the pipeline, the slipping phenomenon is likely to occur, and the cleaning and derusting equipment cannot automatically steer to enter a branch pipe of the pipeline to conduct close-range cleaning and derusting work are solved, and the cleaning and derusting work efficiency and work effect on the pipeline are improved.

Description

Technical Field

[0001] The present invention relates to the field of pipeline cleaning, and in particular to intelligent rust removal equipment for industrial pipelines. Background Art

[0002] Industrial pipeline cleaning and rust removal equipment can move along the inner wall of the pipeline according to the set program to perform close-range cleaning and rust removal. These cleaning and rust removal equipment are usually equipped with a variety of sensors and actuators, which can automatically adjust their working status according to the actual situation of the pipeline to ensure the cleaning and rust removal effect. The application of these technologies not only improves the cleaning efficiency, but also greatly reduces the risk of manual operation. However, the existing industrial pipeline cleaning and rust removal equipment moves close to the inner wall of the pipeline with the help of moving wheels. When there is oil stains on the inner wall of the pipeline that are easy to slip, it will increase the difficulty of the moving wheels to move stably on the inner wall of the pipeline, affecting the efficiency of cleaning and rust removal of the inner wall of the pipeline, and when passing through the branch structure connected to the pipeline, the industrial pipeline cleaning and rust removal equipment cannot realize autonomous steering to enter the branch pipe, resulting in the inability to perform close-range cleaning and rust removal on the branch structure of the pipeline, affecting the cleaning and rust removal effect of the pipeline. Summary of the Invention

[0003] In order to overcome the shortcomings of cleaning and rust removal equipment that is prone to slipping when passing through the oil stains on the inner wall of the pipeline, and cannot achieve autonomous steering to enter the branch pipe of the pipeline for close-range cleaning and rust removal, the present invention provides an intelligent rust removal equipment for industrial pipelines.

[0004] The technical solution of the present invention is: an intelligent rust removal equipment for industrial pipelines, comprising a fixed frame, a side support assembly, an electric-controlled rotating frame, an electric-controlled slide rail, a controller, a turntable, a rotary arm, an inclined support caster, a wheel-side motor, an angle adjustment assembly, a liquid inlet pipe, a ring cover, an infusion pipe, a cleaning nozzle, an infusion assembly and an observation camera; the fixed frame is connected to at least three side support assemblies; the fixed frame is rotatably connected to the electric-controlled rotating frame; the rotating component of the electric-controlled rotating frame is fixedly connected to the electric-controlled slide rail; the slider component of the electric-controlled slide rail is fixedly connected to the controller; the controller is rotatably connected to the turntable; the turntable is rotatably connected to at least three rotary arms through a rotating shaft; the rotary arm is rotatably connected to the inclined support legs wheel; a wheel-side motor for driving the diagonal caster to rotate is installed on the swing arm, and the wheel-side motor has a self-locking function; the output shaft of the wheel-side motor is fixedly connected to the corresponding diagonal caster; the turntable is connected to an angle adjustment component for controlling the flip angle of the swing arm; each swing arm is connected to the angle adjustment component; an annular cavity structure is opened on the turntable; a liquid inlet pipe is fixed in the controller; a ring cover for rotatably connecting to the annular cavity structure is provided on the liquid inlet pipe; the liquid inlet pipe is connected to the annular cavity structure; a cleaning nozzle is fixed on the swing arm; an infusion tube corresponding to the number and position of the cleaning nozzles is fixed on the turntable, and the infusion tube is connected to the annular cavity structure; the infusion tube is connected to the corresponding cleaning nozzle; an observation camera is installed on the turntable.

[0005] Furthermore, the side support assembly includes a flip frame, side support casters and an electric control push rod; the flip frame is rotatably connected to the fixed frame; the side support casters are rotatably connected to the flip frame; the fixed frame is connected to an electric control push rod for controlling the flip angle of the flip frame; the telescopic end of the electric control push rod is rotatably connected to the flip frame through another rotating shaft.

[0006] Furthermore, both the diagonal casters and the side casters are made of non-slip and corrosion-resistant PU material.

[0007] Furthermore, an electronic lock for locking the side casters is installed on the flip frame.

[0008] Furthermore, the angle adjustment assembly includes an electric control screw, an adjustment slider and a pull rope; the electric control screw is rotatably connected to the turntable; the adjustment slider is slidably connected to the turntable; the electric control screw is screwed to the adjustment slider through a threaded structure; the adjustment slider is fixed with pull ropes corresponding to the number and position of the swing arms; the pull ropes are fixed to the corresponding swing arms.

[0009] Furthermore, the pull rope is made of inelastic steel wire rope material.

[0010] Furthermore, a measuring sensor for measuring the inner diameter of the pipeline body and the axial position of the branch pipe structure of the pipeline body is installed on the fixing frame.

[0011] Furthermore, a driving motor is installed in the controller; the output shaft of the driving motor is fixedly connected to the turntable.

[0012] Furthermore, a fixing rod is connected to the rotary arm; and a scraper strip is fixed to the fixing rod.

[0013] Furthermore, the fixed rod is rotatably connected to the corresponding rotary arm; a torsion spring is fixedly connected between the fixed rod and the corresponding rotary arm.

[0014] Beneficial effect: The present invention describes an intelligent rust removal equipment for industrial pipelines, which is mainly controlled by a retractable swing arm on a turntable to move the inclined support casters in a spiral trajectory close to the inner wall of the pipeline body, and auxiliary support is provided by the side support assembly on the fixed frame. At the same time, the spiral forward trajectory is used to move to perform close-range cleaning and rust removal on various areas of the inner wall of the pipeline body, reducing the slippage on the inner wall of the pipeline body. When the measuring sensor detects the center position of the branch pipe aligned with the pipeline body, the electric-controlled rotating frame and the electric-controlled slide control turntable on the fixed frame and the inclined support casters on each swing arm flip into the center of the branch pipe of the pipeline body, realizing intelligent and autonomous steering to enter the branch pipe of the pipeline for close-range cleaning and rust removal, solving the technical problems that the cleaning and rust removal equipment is prone to slipping when passing through the oil stains on the inner wall of the pipeline, and cannot realize autonomous steering to enter the branch pipe of the pipeline for close-range cleaning and rust removal, thereby improving the efficiency and work effect of pipeline cleaning and rust removal. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A perspective view illustrating an intelligent rust removal device for industrial pipelines according to the present invention; Figure 2 A perspective view of a side support assembly of an intelligent rust removal device for industrial pipelines according to the present invention is provided; Figure 3 A three-dimensional diagram of an electric-controlled slide rail for describing an intelligent rust removal device for industrial pipelines according to the present invention; Figure 4 A three-dimensional cross-sectional view of a controller for describing an intelligent rust removal device for industrial pipelines according to the present invention; Figure 5 A three-dimensional diagram of a turntable for describing an intelligent rust removal device for industrial pipelines according to the present invention; Figure 6 A perspective view of the diagonal casters for describing an intelligent rust removal device for industrial pipelines according to the present invention; Figure 7 A perspective view of an angle adjustment component of an intelligent rust removal device for industrial pipelines according to the present invention is provided; Figure 8 A schematic diagram illustrating the movement of an intelligent rust removal device for industrial pipelines within a pipeline body according to the present invention; Figure 9 This is a schematic diagram to describe the turning of an intelligent rust removal device for industrial pipelines within a pipeline body according to the present invention.

[0016] Names and serial numbers of parts in the figure: 1-fixed frame, 11-flip frame, 12-side support casters, 13-electric push rod, 14-electronic lock, 21-electric rotation frame, 22-electric slide rail, 23-controller, 24-drive motor, 3-turntable, 301-annular cavity structure, 31-swing arm, 32-angled support casters, 33-wheel side motor, 34-electric control lead screw, 35-adjustment slider, 36-pull rope, 4-cleaning nozzle, 41-liquid inlet pipe, 42-ring cover, 43-infusion tube, 5-observation camera, 6-measuring sensor, 71-fixed rod, 72-scraper bar, 73-torsion spring, 8-pipeline body, 81-branch structure. DETAILED DESCRIPTION

[0017] The preferred technical solutions of the present invention will be described in detail below with reference to the accompanying drawings.

[0018] Example 1 The present invention provides an intelligent rust removal device for industrial pipelines, such as Figure 1-Figure 7As shown, it includes a fixed frame 1, a side support assembly, an electric-controlled rotating frame 21, an electric-controlled slide rail 22, a controller 23, a turntable 3, a swing arm 31, a diagonal caster 32, a wheel-side motor 33, an angle adjustment assembly, a cleaning nozzle 4, an infusion assembly, an observation camera 5 and a measuring sensor 6; the front and rear sides of the fixed frame 1 are each connected to two side support assemblies; the front and rear sides of the fixed frame 1 are each rotatably connected to an electric-controlled rotating frame 21; the rotating parts of the two electric-controlled rotating frames 21 are commonly fixedly connected to the electric-controlled slide rail 22; the slider part of the electric-controlled slide rail 22 is fixedly connected to the controller 23, and the controller 23 is electrically connected to the external power supply through a traction line; the turntable 3 is rotatably connected to the controller 23; four A rotary arm 31; each rotary arm 31 is rotatably connected to a diagonal caster 32; each rotary arm 31 is equipped with a wheel-side motor 33, and the wheel-side motor 33 has a self-locking function; the output shaft of each wheel-side motor 33 is respectively fixedly connected to the corresponding diagonal caster 32; the turntable 3 is connected to an angle adjustment component; each rotary arm 31 is connected to the angle adjustment component; an infusion component is commonly connected between the controller 23 and the turntable 3; each rotary arm 31 is fixedly connected to a cleaning nozzle 4; all cleaning nozzles 4 are connected to the infusion component; an observation camera 5 is installed on the turntable 3; a measuring sensor 6 for measuring the axial position of the branch pipe structure 81 of the pipe body 8 and the inner diameter of the pipe body 8 is installed on the left and right sides of the fixed frame 1.

[0019] like Figure 2 As shown, the side support assembly includes a flip frame 11, a side support caster 12, an electric push rod 13 and an electronic lock 14; the flip frame 11 is rotatably connected to the fixed frame 1; the side support caster 12 is rotatably connected to the flip frame 11; the electric push rod 13 is rotatably connected to the fixed frame 1 via a rotating shaft; the telescopic end of the electric push rod 13 is rotatably connected to the flip frame 11 via another rotating shaft; an electronic lock 14 is installed on the flip frame 11 to lock the side support caster 12, and the electronic lock 14 is initially in a locked state.

[0020] like Figure 5-Figure 7 As shown, the angle adjustment assembly includes an electric control screw rod 34, an adjustment slider 35 and a pull rope 36; the electric control screw rod 34 is rotatably connected to the turntable 3; the adjustment slider 35 is slidably connected to the turntable 3; the electric control screw rod 34 is screwed to the adjustment slider 35 through a threaded structure; the adjustment slider 35 is fixed with pull ropes 36 corresponding to the number and position of the swing arm 31; each pull rope 36 is respectively fixed to the corresponding swing arm 31; the pull rope 36 uses an inelastic steel wire rope material.

[0021] like Figure 4-Figure 6As shown, the infusion assembly includes a liquid inlet tube 41, an annular cover 42 and an infusion tube 43; a circle of annular cavity structure 301 is provided on the turntable 3; the liquid inlet tube 41 is fixedly connected to the controller 23, and the liquid inlet tube 41 is connected to the cleaning liquid delivery equipment through a long hose; an annular cover 42 is provided on the liquid inlet tube 41; the annular cover 42 is rotatably connected to the annular cavity structure 301 of the turntable 3; the liquid inlet tube 41 is connected to the annular cavity structure 301; infusion tubes 43 corresponding to the number and position of the cleaning nozzles 4 are fixedly connected to the turntable 3, and the infusion tubes 43 are connected to the annular cavity structure 301; each infusion tube 43 is respectively connected to the corresponding cleaning nozzle 4.

[0022] The cleaning and rust removal working steps of the intelligent rust removal equipment for industrial pipelines of the present invention are as follows.

[0023] The operator first places the fixing frame 1 into the pipe body 8 with the turntable 3 facing downward. At this time, the measuring sensors 6 on both sides respectively measure the distance between themselves and the inner wall of the pipe body 8. The inner diameter of the pipe body 8 can be further calculated based on the installation distance between the measuring sensors 6 on both sides. The operator then controls the electric push rod 13 to push the flip frame 11 to drive the side support casters 12 to rotate upward until the side support casters 12 are firmly supported on the inner wall of the pipe body 8 in a vertical state. At the same time, the operator controls the electric control screw rod 34 to drive the adjustment slider 35 to move downward. The adjustment slider 35 pulls the pull rope 36 to drive the swing arm 31 and the diagonal support casters 32 connected to it to rotate and open upward until the diagonal support casters 32 are in a horizontal tilted state with the forward direction inclined downward and close to the inner wall of the pipe body 8. Figure 8 As shown, the operator controls the electronic lock 14 to switch to the unlocked state, so that the side support caster 12 is no longer locked by the electronic lock 14. Since the diagonal support caster 32 is in a horizontally inclined state and close to the inner wall of the pipe body 8, compared with the vertically supported side support caster 12, the diagonal support caster 32 is less likely to slip when passing through the oily area on the inner wall of the pipe body 8.

[0024] After that, the operator controls the wheel-side motor 33 to drive the connected inclined caster 32 to rotate slowly. The inclined caster 32 drives the turntable 3 to rotate while moving along the inner wall of the pipe body 8, so that all the inclined casters 32 pull the fixed frame 1 downward along the spiral downward trajectory along the inner wall of the pipe body 8. At the same time, all the side casters 12 are firmly supported on the inner wall of the pipe body 8 and move downward with the fixed frame 1. At the same time, the external cleaning liquid delivery equipment continuously delivers cleaning liquid to the annular cavity structure 301 of the turntable 3 through the liquid inlet pipe 41. The cleaning liquid The cleaning liquid is respectively transported toward the corresponding cleaning nozzle 4 through each infusion tube 43, so that the cleaning liquid is sprayed outward from the rotating cleaning nozzle 4 to various areas of the inner wall of the pipe body 8 at a close distance, so that the various areas of the inner wall of the pipe body 8 are cleaned and rusted at a close distance by means of the spiral forward trajectory, thereby improving the cleaning effect of the oil stains on the inner wall of the pipe body 8. The diagonal support casters 32 and the side support casters 12 are both made of anti-slip and corrosion-resistant PU material, making it less likely for the diagonal support casters 32 and the side support casters 12 to slip on the inner wall of the pipe body 8.

[0025] The autonomous steering working steps of the intelligent industrial pipeline rust removal equipment of the present invention are as follows.

[0026] When the inclined caster 32 pulls the fixed frame 1 to move downward along the inner wall of the pipe body 8 along the spiral downward trajectory, when the measuring sensor 6 detects that the central area of the electric-controlled rotating frame 21 is aligned with the axis of the branch pipe structure 81 of the pipe body 8, the wheel-side motor 33 stops driving the inclined caster 32 to rotate, and at the same time, the electric-controlled screw rod 34 drives the adjusting slider 35 to move upward, allowing the swing arm 31 and the inclined caster 32 connected to it to rotate downward and reset under the action of their own gravity, and then the electric-controlled rotating frame 21 drives the electric-controlled slide rail 22 and the controller 23 connected to it, the turntable 3, the swing arm 31 and the inclined caster 32 to rotate toward the axis of the branch pipe structure 81. Figure 9As shown, the electric-controlled slide rail 22 then drives the controller 23 and the turntable 3, the swing arm 31 and the diagonal support caster 32 connected thereto toward the inside of the branch pipe structure 81, allowing the turntable 3 and the swing arm 31 and the diagonal support caster 32 connected thereto to enter the inside of the branch pipe structure 81, and then according to the above steps, the electric-controlled screw rod 34 drives the adjusting slider 35 to move downward, allowing the adjusting slider 35 to pull the pull rope 36 to drive the swing arm 31 and the diagonal support caster 32 connected thereto to rotate and open, until the diagonal support caster 32 is in a horizontally tilted state and close to the inner wall of the branch pipe structure 81, and the wheel-side motor 33 is in a locked state for the diagonal support caster 32, and then the electric-controlled push rod 13 pulls the flip frame 11 to drive the side support caster 12 to rotate downward, allowing the side support caster 12 to leave the inner wall of the pipe body 8, and at this time, the diagonal support caster 32 replaces the side support caster 12 to provide stable fixed support for the entire equipment. Then the electrically controlled rotating frame 21 drives the fixed frame 1 and the side support assembly connected thereto to rotate toward the axis of the branch pipe structure 81, so that the inclination angle of the fixed frame 1 is aligned with the inclination angle of the controller 23, and then the electrically controlled slide rail 22 pulls the fixed frame 1 toward the inside of the branch pipe structure 81, so that the fixed frame 1 moves closer to the controller 23, and the side support assembly on the fixed frame 1 also enters the branch pipe structure 81. Then the electrically controlled push rod 13 pushes the flip frame 11 to drive the side support casters 12 to rotate until the side support casters 12 are firmly supported on the inner wall of the branch pipe structure 81, so that the equipment can complete autonomous steering from the pipeline body 8 to enter the branch pipe structure 81. After the wheel-side motor 33 switches to the unlocked state of the diagonal support casters 32, the above steps can be followed to perform close cleaning and rust removal on various areas of the inner wall of the branch pipe structure 81.

[0027] Example 2. This example is based on the above-mentioned Example 1. A drive motor 24 is installed in the controller 23. The output shaft of the drive motor 24 is fixedly connected to the turntable 3. When the operator observes through the observation camera 5 that there is no rust on the inner wall of the pipe body 8, it is only necessary to perform a simple flushing and cleaning operation on the inner wall of the pipe body 8. After the operator places the fixing frame 1 into the pipe body 8, the operator controls the electric push rod 13 according to the above steps to push the flip frame 11 to make the side support casters 12 close to the inner wall of the pipe body 8. The fixing frame 1 is stably erected in the pipe body 8 only by the side support casters 12, and the electronic lock 14 remains unlocked, while the swing arm 31 and the diagonal support casters are locked. 32 remains in a retracted state, and then the operator controls the drive motor 24 to drive the turntable 3 to rotate at high speed, and the turntable 3 drives the cleaning nozzles 4 on each rotary arm 31 to rotate at high speed, and at the same time, the external cleaning liquid delivery equipment continuously delivers cleaning liquid to each cleaning nozzle 4, and the cleaning liquid is respectively sprayed to various areas of the inner wall of the pipe body 8 through each cleaning nozzle 4 in a high-speed rotating state. At the same time, the operator slowly lowers the fixed frame 1, and allows the fixed frame 1 to drive the side support casters 12 to move downward close to the inner wall of the pipe body 8 under the action of its own gravity, so that the cleaning liquid sprayed from the high-speed rotating cleaning nozzle 4 can quickly and simply flush and clean various areas of the inner wall of the pipe body 8.

[0028] When the cam 72 is in the closed position, the cam 72 is in the closed position, and the cam 72 is in the closed position, so that the cam 72 is in the closed position and the cam 72 is out of the closed position.

[0029] It should be understood that the above description is only for illustrative purposes and is not intended to limit the present invention. Those skilled in the art will appreciate that variations of the present invention will fall within the scope of the claims herein.

Claims

1. An intelligent rust removal device for industrial pipelines, comprising a fixing frame (1); the fixing frame (1) is connected to no less than three side support components; characterized in that, The electric-controlled rotating frame (21) is also included; the fixed frame (1) is rotatably connected to the electric-controlled rotating frame (21); the rotating component of the electric-controlled rotating frame (21) is fixedly connected to the electric-controlled slide rail (22); the slider component of the electric-controlled slide rail (22) is fixedly connected to the controller (23); the controller (23) is rotatably connected to a turntable (3); the turntable (3) is rotatably connected to no less than three rotating arms (31) via a rotating shaft; the rotating arms (31) are rotatably connected to diagonal casters (32); a wheel-side motor (33) for driving the diagonal casters (32) to rotate is installed on the rotating arms (31), and the wheel-side motor (33) has a self-locking function; the output shaft of the wheel-side motor (33) is fixedly connected to the corresponding diagonal casters (32); The disk (3) is connected to an angle adjustment component for controlling the turning angle of the rotary arm (31); an annular cavity structure (301) is provided on the rotary disk (3); a liquid inlet pipe (41) is fixedly connected to the controller (23); an annular cover (42) rotatably connected to the annular cavity structure (301) is provided on the liquid inlet pipe (41); the liquid inlet pipe (41) is connected to the annular cavity structure (301); a cleaning nozzle (4) is fixedly connected to the rotary arm (31); liquid infusion pipes (43) corresponding to the number and position of the cleaning nozzles (4) are fixedly connected to the rotary disk (3), and the liquid infusion pipes (43) are connected to the annular cavity structure (301); the liquid infusion pipes (43) are connected to the corresponding cleaning nozzles (4); an observation camera (5) is installed on the rotary disk (3).

2. The intelligent rust removal equipment for industrial pipelines according to claim 1 is characterized in that: The side support assembly comprises a turning frame (11), a side support caster (12) and an electric control push rod (13); the turning frame (11) is rotatably connected to the fixed frame (1); the side support caster (12) is rotatably connected to the turning frame (11); the electric control push rod (13) for controlling the turning angle of the turning frame (11) is connected to the fixed frame (1); the telescopic end of the electric control push rod (13) is rotatably connected to the turning frame (11) via another rotating shaft.

3. The intelligent rust removal equipment for industrial pipelines according to claim 2, characterized in that: The diagonal casters (32) and the side casters (12) are made of anti-skid and corrosion-resistant PU material.

4. The intelligent rust removal equipment for industrial pipelines according to claim 2, characterized in that: An electronic lock (14) for locking the side casters (12) is installed on the turning frame (11).

5. The intelligent rust removal equipment for industrial pipelines according to claim 1, characterized in that: The angle adjustment assembly includes an electric control screw rod (34), an adjustment slider (35) and a pull rope (36); the electric control screw rod (34) is rotatably connected to the turntable (3); the adjustment slider (35) is slidably connected to the turntable (3); the electric control screw rod (34) is screwed to the adjustment slider (35) through a threaded structure; the adjustment slider (35) is fixed with pull ropes (36) corresponding to the number and position of the rotary arms (31); and the pull ropes (36) are fixed to the corresponding rotary arms (31).

6. The intelligent rust removal equipment for industrial pipelines according to claim 5, characterized in that: The pull rope (36) is made of inelastic steel wire rope material.

7. The intelligent rust removal equipment for industrial pipelines according to claim 1, characterized in that: A measuring sensor (6) for measuring the inner diameter of the pipeline body (8) and the axial position of the branch pipe structure (81) of the pipeline body (8) is installed on the fixing frame (1).

8. The intelligent rust removal equipment for industrial pipelines according to claim 1, characterized in that: A driving motor (24) is installed in the controller (23); an output shaft of the driving motor (24) is fixedly connected to the turntable (3).

9. An intelligent rust removal device for industrial pipelines according to any one of claims 1 to 8, characterized in that: A fixing rod (71) is connected to the rotary arm (31); and a scraping strip (72) is fixed to the fixing rod (71).

10. The intelligent rust removal equipment for industrial pipelines according to claim 9, characterized in that: The fixed rod (71) is rotatably connected to the corresponding rotary arm (31); a torsion spring (73) is fixedly connected between the fixed rod (71) and the corresponding rotary arm (31).

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