Intelligent rust removal equipment for industrial pipelines

Abstract

This invention relates to the field of pipeline cleaning, and more particularly to an intelligent rust removal device for industrial pipelines. The intelligent rust removal device for industrial pipelines described in this invention mainly consists of retractable rotating arms on a turntable, controlling inclined support casters to move in a spiral trajectory close to the inner wall of the pipeline body for close-range cleaning and rust removal. This reduces slippage on the inner wall of the pipeline body. When the measuring sensor detects the alignment with the center of the branch pipe of the pipeline body, the electrically controlled rotating frame and electrically controlled slide rail on the fixed frame control the turntable and the inclined support casters on each rotating arm to flip and enter the center of the branch pipe of the pipeline body, achieving intelligent autonomous turning to enter the branch pipe for close-range cleaning and rust removal. This solves the technical problems of slippage when the cleaning and rust removal equipment passes through oil stains on the inner wall of the pipeline, and the inability to achieve autonomous turning to enter the branch pipe for close-range cleaning and rust removal, thus improving the efficiency and effectiveness of pipeline cleaning and rust removal.

Description

Technical Field

[0001] This invention relates to the field of pipeline cleaning, and more particularly to an intelligent rust removal device for industrial pipelines. Background Technology

[0002] Industrial pipeline cleaning and rust removal equipment can move along the inner wall of the pipeline according to a set program to perform close-range cleaning and rust removal. These cleaning and rust removal devices 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 cleaning efficiency but also greatly reduces the risk of manual operation. However, existing industrial pipeline cleaning and rust removal equipment moves by using moving wheels to closely follow the inner wall of the pipeline. 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. Moreover, when passing through the branch pipe structure connected to the pipeline, the industrial pipeline cleaning and rust removal equipment cannot achieve autonomous turning to enter the branch pipe, which makes it impossible to perform close-range cleaning and rust removal of the branch pipe structure, affecting the cleaning and rust removal effect of the pipeline. Summary of the Invention

[0003] To overcome the shortcomings of cleaning and rust removal equipment, such as slippage when passing through oil stains on the inner wall of pipes and the inability to autonomously turn and enter the branch pipes of the pipeline for close-range cleaning and rust removal, this invention provides an intelligent rust removal device for industrial pipelines.

[0004] The technical solution of this invention is: an intelligent rust removal device for industrial pipelines, comprising a fixed frame, side support components, an electrically controlled rotating frame, an electrically controlled slide rail, a controller, a turntable, rotating arms, inclined support casters, wheel-side motors, an angle adjustment component, an inlet pipe, an annular cover, an infusion pipe, a cleaning nozzle, an infusion component, and an observation camera; at least three side support components are connected to the fixed frame; the electrically controlled rotating frame is rotatably connected to the fixed frame; the rotating component of the electrically controlled rotating frame is fixedly connected to the electrically controlled slide rail; the slider component of the electrically controlled slide rail is fixedly connected to the controller; the turntable is rotatably connected to the controller; the turntable is rotatably connected to at least three rotating arms via rotating shafts at equal intervals; and inclined support casters are rotatably connected to the rotating arms. The rotating arm is equipped with a wheel-side motor that drives the inclined support casters to rotate, and the wheel-side motor has a self-locking function; the output shaft of the wheel-side motor is fixedly connected to the corresponding inclined support caster; an angle adjustment component that controls the rotation angle of the rotating arm is connected to the turntable; each rotating arm is connected to an angle adjustment component; an annular cavity structure is opened on the turntable; an inlet pipe is fixedly connected inside the controller; an annular cover that rotatably connects to the annular cavity structure is provided on the inlet pipe; the inlet pipe is connected to the annular cavity structure; a cleaning nozzle is fixedly connected to the rotating arm; an infusion pipe corresponding to the number and position of the cleaning nozzle is fixedly connected to the turntable, and the infusion pipe is connected to the annular cavity structure; the infusion pipe is connected to the corresponding cleaning nozzle; an observation camera is installed on the turntable.

[0005] Furthermore, the side support assembly includes a tilting frame, side support casters, and an electrically controlled push rod; the tilting frame is rotatably connected to the fixed frame; the side support casters are rotatably connected to the tilting frame; the electrically controlled push rod, which controls the tilting angle of the tilting frame, is connected to the fixed frame; the telescopic end of the electrically controlled push rod is rotatably connected to the tilting frame via another rotating shaft.

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

[0007] Furthermore, the tilting frame is equipped with an electronic lock that locks the side support casters.

[0008] Furthermore, the angle adjustment assembly includes an electric control screw, an adjusting slider, and a pull rope; the electric control screw is rotatably connected to the turntable; the adjusting slider is slidably connected to the turntable; the electric control screw is screwed to the adjusting slider via a threaded structure; a pull rope corresponding to the number and position of the rotating arms is fixedly connected to the adjusting slider; the pull rope is fixedly connected to the corresponding rotating arms.

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

[0010] Furthermore, the mounting bracket is equipped with measuring sensors for measuring the inner diameter of the pipe body and the axial position of the branch structure of the pipe body.

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

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

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

[0014] Beneficial Effects: The intelligent rust removal equipment for industrial pipelines described in this invention mainly consists of retractable rotating arms on a turntable that control inclined support casters to move in a spiral trajectory close to the inner wall of the pipeline body. Auxiliary support is provided by side support components on a fixed frame. Simultaneously, the spiral trajectory movement allows for close-range cleaning and rust removal of various areas of the pipeline body's inner wall, reducing slippage. When the measuring sensor detects the alignment with the center of the branch pipe of the pipeline body, the electrically controlled rotating frame and electrically controlled slide rail on the fixed frame control the turntable and the inclined support casters on each rotating arm to flip and enter the center of the branch pipe of the pipeline body. This achieves intelligent autonomous steering to enter the branch pipe for close-range cleaning and rust removal, solving the technical problems of slippage when the cleaning and rust removal equipment passes through oil stains on the inner wall of the pipeline and the inability to autonomously steering to enter the branch pipe for close-range cleaning and rust removal. This improves the efficiency and effectiveness of pipeline cleaning and rust removal. Attached Figure Description

[0015] Figure 1 A perspective view illustrating an intelligent rust removal device for industrial pipelines according to the present invention;

[0016] Figure 2 A perspective view of the side support assembly of an intelligent rust removal device for industrial pipelines according to the present invention;

[0017] Figure 3 A perspective view of the electrically controlled slide rail for an intelligent rust removal device for industrial pipelines according to the present invention;

[0018] Figure 4 This is a perspective cross-sectional view of the controller of an intelligent rust removal device for industrial pipelines according to the present invention.

[0019] Figure 5 A perspective view of the turntable for describing an intelligent rust removal device for industrial pipelines according to the present invention;

[0020] Figure 6 A perspective view illustrating the inclined support casters of an intelligent rust removal device for industrial pipelines according to the present invention;

[0021] Figure 7 A perspective view illustrating the angle adjustment component of an intelligent rust removal device for industrial pipelines according to the present invention;

[0022] Figure 8 This is a schematic diagram illustrating the movement of an intelligent rust removal device for industrial pipelines within the pipeline body according to the present invention.

[0023] Figure 9 This is a schematic diagram illustrating the turning direction of an intelligent rust removal device for industrial pipelines according to the present invention within the pipeline body.

[0024] Component names and serial numbers in the diagram: 1-Fixed frame, 11-Tilting frame, 12-Side support caster, 13-Electrically controlled push rod, 14-Electronic lock, 21-Electrically controlled rotating frame, 22-Electrically controlled slide rail, 23-Controller, 24-Drive motor, 3-Turntable, 301-Annular cavity structure, 31-Rotating arm, 32-Angled support caster, 33-Wheel-side motor, 34-Electrically controlled lead screw, 35-Adjusting slider, 36-Pull rope, 4-Cleaning nozzle, 41-Inlet pipe, 42-Annular cover, 43-Infusion pipe, 5-Observation camera, 6-Measuring sensor, 71-Fixed rod, 72-Scraper, 73-Torsion spring, 8-Pipe body, 81-Branch structure. Detailed Implementation

[0025] The preferred technical solution of the present invention will be described in detail below with reference to the accompanying drawings.

[0026] Example 1

[0027] This invention provides an intelligent rust removal device for industrial pipelines, such as... Figures 1-7As shown, the system includes a fixed frame 1, side support components, an electrically controlled rotating frame 21, an electrically controlled slide rail 22, a controller 23, a turntable 3, a rotating arm 31, inclined support casters 32, wheel-side motors 33, an angle adjustment component, a cleaning nozzle 4, an infusion component, an observation camera 5, and a measuring sensor 6. Two side support components are connected to the front and rear sides of the fixed frame 1. An electrically controlled rotating frame 21 is rotatably connected to the front and rear sides of the fixed frame 1. An electrically controlled slide rail 22 is fixedly connected between the rotating parts of the two electrically controlled rotating frames 21. A controller 23 is fixedly connected to the slider component of the electrically controlled slide rail 22, and the controller 23 is electrically connected to an external power source via a traction cable. A turntable 3 is rotatably connected to the controller 23. Four equidistant components are rotatably connected around the turntable 3 via rotating shafts. Each rotating arm 31 has a rotatable inclined support caster 32; each rotating 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 fixedly connected to the corresponding inclined support caster 32; an angle adjustment component is connected to the turntable 3; each rotating arm 31 is connected to an angle adjustment component; an infusion component is connected between the controller 23 and the turntable 3; a cleaning nozzle 4 is fixedly connected to each rotating arm 31; 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 inner diameter of the pipe body 8 and the axial position of the branch pipe structure 81 of the pipe body 8 is installed on the left and right sides of the fixing frame 1.

[0028] like Figure 2 As shown, the side support assembly includes a tilting frame 11, side support casters 12, an electrically controlled push rod 13, and an electronic lock 14; the tilting frame 11 is rotatably connected to the fixed frame 1; the side support casters 12 are rotatably connected to the tilting frame 1; the electrically controlled push rod 13 is rotatably connected to the fixed frame 1 via a rotating shaft; the telescopic end of the electrically controlled push rod 13 is rotatably connected to the tilting frame 11 via another rotating shaft; the tilting frame 11 is equipped with an electronic lock 14 for locking the side support casters 12, and the electronic lock 14 is initially in a locked state.

[0029] like Figures 5-7 As shown, the angle adjustment assembly includes an electric control screw 34, an adjusting slider 35, and a pull rope 36; the electric control screw 34 is rotatably connected to the turntable 3; the adjusting slider 35 is slidably connected to the turntable 3; the electric control screw 34 is screwed to the adjusting slider 35 through a threaded structure; a pull rope 36 corresponding to the number and position of the rotating arms 31 is fixedly connected to the adjusting slider 35; each pull rope 36 is fixedly connected to a corresponding rotating arm 31; the pull rope 36 is made of inelastic steel wire rope material.

[0030] like Figures 4-6As shown, the infusion assembly includes an inlet pipe 41, an annular cap 42, and an infusion pipe 43; an annular cavity structure 301 is formed on the turntable 3; the inlet pipe 41 is fixedly connected inside the controller 23, and the inlet pipe 41 is connected to the cleaning fluid delivery device through a long hose; the inlet pipe 41 is provided with an annular cap 42; the annular cap 42 is rotatably connected to the annular cavity structure 301 of the turntable 3; the inlet pipe 41 is connected to the annular cavity structure 301; an infusion pipe 43 corresponding to the number and position of the cleaning nozzles 4 is fixedly connected to the turntable 3, and the infusion pipe 43 is connected to the annular cavity structure 301; each infusion pipe 43 is connected to the corresponding cleaning nozzle 4.

[0031] The cleaning and rust removal steps of an intelligent rust removal device for industrial pipelines according to the present invention are as follows.

[0032] The operator first places the fixing frame 1 into the pipe body 8 with the turntable 3 facing down. At this time, the measuring sensors 6 on both sides 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 control push rod 13 to push the tilting frame 11, which drives 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 position. At the same time, the operator controls the electric control screw 34 to drive the adjusting slider 35 to move downward. The adjusting slider 35 pulls the pull rope 36, which drives the rotating arm 31 and its connected inclined support caster 32 to rotate upward and open until the inclined support caster 32 is in a horizontally inclined state with the forward direction diagonally downward and is tightly against the inner wall of the pipe body 8. Figure 8 As shown, the operator then 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 inclined support caster 32 is in a horizontally inclined state and closely attached to the inner wall of the pipe body 8, compared with the vertically supported side support caster 12, the inclined support caster 32 is less likely to slip when passing through the oily area of ​​the inner wall of the pipe body 8.

[0033] Then, the operator controls the wheel-side motor 33 to drive the connected inclined support casters 32 to rotate slowly. As the inclined support casters 32 move along the inner wall of the pipe body 8, they drive the turntable 3 to rotate, causing all the inclined support casters 32 to pull the fixed frame 1 downward along the spiral downward trajectory of the inner wall of the pipe body 8. At the same time, all the side support casters 12 are firmly supported on the inner wall of the pipe body 8 and follow the fixed frame 1 downward. Meanwhile, the external cleaning fluid delivery equipment continuously delivers cleaning fluid to the annular cavity structure 301 of the turntable 3 through the inlet pipe 41. The cleaning fluid is delivered to the corresponding cleaning nozzles 4 through each infusion tube 43, allowing the cleaning fluid to be sprayed outward from the rotating cleaning nozzles 4 at close range to various areas of the inner wall of the pipe body 8. This achieves close-range cleaning and rust removal of various areas of the inner wall of the pipe body 8 by moving along a spiral trajectory, improving the cleaning effect on the oil stains on the inner wall of the pipe body 8. Furthermore, both the inclined support casters 32 and the side support casters 12 are made of non-slip and corrosion-resistant PU material, making it less likely for the inclined support casters 32 and the side support casters 12 to slip on the inner wall of the pipe body 8.

[0034] The autonomous steering operation steps of an intelligent rust removal device for industrial pipelines according to the present invention are as follows.

[0035] As the inclined support caster 32 pulls the fixed frame 1 downward along the spiral downward trajectory of the inner wall of the pipe body 8, when the measuring sensor 6 detects that the central area of ​​the electrically 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 support caster 32 to rotate. At the same time, the electrically controlled lead screw 34 drives the adjusting slider 35 to move upward, allowing the rotating arm 31 and its connected inclined support caster 32 to rotate downward and reset under its own gravity. Then, the electrically controlled rotating frame 21 drives the electrically controlled slide rail 22 and its connected controller 23, turntable 3, rotating arm 31, and inclined support caster 32 to rotate towards the axis of the branch pipe structure 81. Figure 9As shown, the electrically controlled slide rail 22 then drives the controller 23 and its connected turntable 3, rotating arm 31, and inclined support caster 32 to push into the branch pipe structure 81, allowing the turntable 3, its connected rotating arm 31, and inclined support caster 32 to enter the branch pipe structure 81. Then, following the above steps, the electrically controlled screw 34 drives the adjusting slider 35 to move downwards, causing the adjusting slider 35 to pull the pull rope 36, which in turn drives the rotating arm 31 and its connected inclined support caster 32 to rotate and open until the inclined support caster 32 is in a horizontally inclined state, tightly against the inner wall of the branch pipe structure 81, and the wheel-side motor 33 is in a locked state for the inclined support caster 32. After that, the electrically controlled push rod 13 pulls the tilting frame 11, causing the side support caster 12 to rotate downwards, allowing the side support caster 12 to leave the inner wall of the pipe body 8. At this time, the inclined support caster 32 replaces the side support caster 12 to provide stable fixed support for the entire equipment. Next, the electrically controlled rotating frame 21 drives the fixed frame 1 and its connected side support components to rotate towards the axis of the branch pipe structure 81, so that the tilt angle of the fixed frame 1 is aligned with the tilt angle of the controller 23. Then, the electrically controlled slide rail 22 pulls the fixed frame 1 towards the inside of the branch pipe structure 81, so that the fixed frame 1 moves closer to the controller 23, and the side support components on the fixed frame 1 also enter the branch pipe structure 81. After that, the electrically controlled push rod 13 pushes the tilting 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. This allows the equipment to autonomously turn from the pipe body 8 into the branch pipe structure 81. After the wheel-side motor 33 switches to the unlocked state for the inclined support casters 32, the above steps can be followed to perform close-range cleaning and rust removal work on various areas of the inner wall of the branch pipe structure 81.

[0036] Example 2: Based on Example 1, this example includes a drive motor 24 installed inside 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, only a simple rinsing and cleaning of the inner wall of the pipe body 8 is required. After the operator places the fixing bracket 1 inside the pipe body 8, the operator controls the electric control push rod 13 to push the flipping frame 11 to press the side support casters 12 tightly against the inner wall of the pipe body 8, and the fixing bracket 1 is stably erected inside the pipe body 8 only by the side support casters 12, while the electronic lock 14 remains unlocked, and the rotating arm 31 and the inclined support casters... 32 remains in the retracted state. Then, the operator controls the drive motor 24 to drive the turntable 3 to rotate at high speed. The turntable 3 drives the cleaning nozzles 4 on each rotating arm 31 to rotate at high speed. At the same time, the external cleaning fluid delivery equipment continuously delivers cleaning fluid to each cleaning nozzle 4. The cleaning fluid is sprayed into each area 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, so that the fixed frame 1 drives the side support casters 12 to move downward close to the inner wall of the pipe body 8 under its own gravity. This realizes that the cleaning fluid sprayed from the high-speed rotating cleaning nozzles 4 can quickly and simply rinse and clean each area of ​​the inner wall of the pipe body 8.

[0037] Example 3: Based on Example 1, each rotating arm 31 is rotatably connected to a fixed rod 71; each fixed rod 71 near the end of the inclined support caster 32 is fixedly connected to a scraper 72; each fixed rod 71 and the corresponding rotating arm 31 are fixedly connected to a torsion spring 73; during the process of the rotating arm 31 driving the inclined support caster 32 to rotate up to be close to the inner wall of the pipe body 8, the rotating arm 31 drives the scraper 72 on the fixed rod 71 to rotate towards the inner wall of the pipe body 8. When the scraper 72 is blocked by the inner wall of the pipe body 8, the scraper 72 drives the fixed rod 71 to twist the torsion spring 73. The twisted torsion spring 73, under its own reverse elastic force, drives the scraper 72 on the fixed rod 71 to be close to the inner wall of the pipe body 8. This achieves that during the process of the rotating arm 31 rotating and moving along the inner wall of the pipe body 8 with the inclined support caster 32, the scraper 72 moves close to each area of ​​the inner wall of the pipe body 8, and the scraper 72 scrapes away and cleans the residual rust on the inner wall of the pipe body 8.

[0038] It should be understood that the above description is for illustrative purposes only and is not intended to limit the invention. Those skilled in the art will understand that variations of the invention are included within the scope of the claims herein.

Claims

1. An intelligent rust removal device for industrial pipelines, comprising a fixed frame (1); the fixed frame (1) is connected to at least three side support components; characterized in that, It also includes an electrically controlled rotating frame (21); the electrically controlled rotating frame (21) is rotatably connected to the fixed frame (1); the rotating part of the electrically controlled rotating frame (21) is fixedly connected to an electrically controlled slide rail (22); the slider part of the electrically controlled slide rail (22) is fixedly connected to a controller (23); the controller (23) is rotatably connected to a turntable (3); at least three rotating arms (31) are equidistantly connected around the turntable (3) via a rotating shaft; the rotating arms (31) are rotatably connected to inclined support casters (32); the rotating arms (31) are equipped with wheel-side motors (33) that drive the inclined support casters (32) to rotate, and the wheel-side motors (33) have a self-locking function; the output shaft of the wheel-side motors (33) is fixedly connected to the corresponding inclined support casters (32). The turntable (3) is connected to an angle adjustment component that controls the rotation angle of the rotating arm (31); the turntable (3) is provided with an annular cavity structure (301); the controller (23) is fixedly connected to an inlet pipe (41); the inlet pipe (41) is provided with an annular cover (42) that is rotatably connected to the annular cavity structure (301); the inlet pipe (41) is connected to the annular cavity structure (301); the rotating arm (31) is fixedly connected to a cleaning nozzle (4); the turntable (3) is fixedly connected to an infusion pipe (43) corresponding to the number and position of the cleaning nozzle (4), and the infusion pipe (43) is connected to the annular cavity structure (301); the infusion pipe (43) is connected to the corresponding cleaning nozzle (4); the turntable (3) is equipped with an observation camera (5); The angle adjustment assembly includes an electric control screw (34), an adjustment slider (35), and a pull rope (36); the electric control screw (34) is rotatably connected to the turntable (3); the adjustment slider (35) is slidably connected to the turntable (3); the electric control screw (34) is screwed to the adjustment slider (35) through a threaded structure; the adjustment slider (35) is fixedly connected to a pull rope (36) corresponding to the number and position of the rotating arms (31); the pull rope (36) is fixedly connected to the corresponding rotating arms (31); The controller (23) is equipped with a drive motor (24); the output shaft of the drive motor (24) is fixed to the turntable (3).

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

3. The intelligent rust removal equipment for industrial pipelines according to claim 2, characterized in that, Both the angled support caster (32) and the side support caster (12) are made of non-slip 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) is installed on the tilting frame (11) to lock the side support casters (12).

5. The intelligent rust removal equipment for industrial pipelines according to claim 1, characterized in that, The pull rope (36) is made of inelastic steel wire rope material.

6. The intelligent rust removal equipment for industrial pipelines according to claim 1, characterized in that, The mounting bracket (1) is equipped with a measuring sensor (6) for measuring the inner diameter of the pipe body (8) and the axial position of the branch structure (81) of the pipe body (8).

7. An intelligent rust removal device for industrial pipelines according to any one of claims 1-6, characterized in that, A fixed rod (71) is connected to the rotating arm (31); a scraper (72) is fixedly connected to the fixed rod (71).

8. The intelligent rust removal equipment for industrial pipelines according to claim 7, characterized in that, The fixed rod (71) is rotatably connected to the corresponding rotating arm (31); a torsion spring (73) is fixed between the fixed rod (71) and the corresponding rotating arm (31).

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