A diesel engine common rail pipeline cleaning device

Abstract

The application discloses a diesel engine common rail pipeline cleaning device and relates to the technical field of industrial precision part cleaning. The external polishing structure is used for polishing the outside of the diesel engine common rail pipeline before cleaning; the inside and outside cleaning cabin is arranged at the right side end of the external polishing structure, first, full-automatic assembly line operation from coarse to fine is realized, cleaning efficiency and consistency are greatly improved, and quality fluctuation caused by manual intervention is avoided; second, the soft robot part is combined with a phased array ultrasonic transducer array and an endoscope type optical fiber photoacoustic sensing array, an intelligent closed loop of detection, cleaning and re-detection is formed, microscopic stains and cracks can be accurately positioned with high-resolution images, targeted removal can be realized through the synergistic effect of focused ultrasound and high-frequency pulsating jet flow, non-damage deep cleaning is realized, and in-situ quality evaluation is completed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial precision component cleaning, in particular to a diesel engine common rail pipeline cleaning device. BACKGROUND

[0002] The common rail pipeline (common rail pipe) in the high-pressure common rail system of a diesel engine is a key pressure storage and fuel distribution element, and the cleanliness of the inner cavity of the common rail pipe is directly related to the reliability of the entire fuel injection system, the fuel injection precision, and the long-term running stability of the engine. Contaminants on the inner wall of the common rail pipe, such as metal processing burrs, residual cutting fluid, carbon deposits, and particulate matter, etc., are extremely easy to cause the precision components such as injectors to be stuck and worn under the entrainment of high-pressure fuel, thereby causing the engine performance to decline or even fail. Therefore, thoroughly cleaning the common rail pipeline, especially the complex and slender inner cavity channel thereof, is a crucial and extremely challenging link in the engine manufacturing and remanufacturing process.

[0003] Currently, various technologies have been developed for cleaning the inner cavity of the pipeline in the industrial field, but when applied to special components such as high-precision, small-diameter, and multi-corner common rail pipes, there are significant limitations: traditional methods mainly include mechanical scraping using pigging balls, cup-type pigging tools, and other tools, as well as using high-pressure water jets or compressed air for flushing. Such methods are simple in principle, but have limited cleaning effect on firmly adhered contaminants such as burrs on the folded edges of intersecting holes in the common rail pipe and tiny metal particles embedded in the thread roots. Especially during one-way flushing, "cleaning blind areas" are easily formed at pipe bends and reducers, leading to the accumulation of dirt. In addition, although high water jet pressure (such as high-pressure cleaning reaching 500 bar) can improve the decontamination capability, it poses a risk of damaging the surface quality of the precision inner wall, and the equipment is complex and energy consumption is high. Meanwhile, it is also common to immerse the workpiece in a cleaning solution and use the cavitation effect of ultrasonic waves for cleaning. However, the energy of ultrasonic waves attenuates quickly in liquid, and the cavitation effect is greatly weakened in the deep and blocked areas of the slender pipeline, resulting in unsatisfactory cleaning effect. More critically, if the strong ultrasonic cavitation effect is not properly controlled, it may cause "cavitation erosion" damage to the surface of the pipeline metal substrate. At the same time, this method is a whole-body, non-selective cleaning method that cannot perform targeted intensive treatment on stubborn stains, and there is a lack of real-time and intuitive evaluation means for the inner wall condition after cleaning. Although some improved technologies have emerged to address the above problems. For example, bidirectional pulse air flow is used for pipeline pre-cleaning to reduce blind areas, or ultrasonic transducers are installed on the outer wall of the pipeline for remote descaling. However, the former has insufficient cleaning power for microscopically adhering contaminants, and the latter has problems such as low ultrasonic wave transmission efficiency, easy reflection of standing waves, and difficulty in precisely focusing energy on specific points on the inner wall. In addition, although detection robots for municipal pipelines have appeared, they are usually single-function (mainly for detection or unblocking), and the working environment and precision requirements are completely different from those of common rail pipe cleaning, and cannot be directly applied to high-precision industrial scenarios that require "detection-cleaning-evaluation" integrated operations. SUMMARY

[0004] The purpose of the present application is to provide a diesel engine common rail pipe cleaning device that can achieve efficient and deep cleaning of complex inner cavities without damaging the precision inner surface of the pipe, and can simultaneously complete online monitoring and quality verification of the cleaning process, to solve the problems raised in the background art.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical solution: a diesel engine common rail pipe cleaning device, comprising:

[0006] An external polishing structure for pre-cleaning and polishing the outside of the diesel engine common rail pipe;

[0007] An inner and outer cleaning cabin is arranged at the right end of the outer polishing structure, and is used for sequentially immersing and cleaning the diesel engine common rail pipe with different kinds of cleaning agents and performing deep cleaning through ultrasonic waves.

[0008] A fine inner cleaning structure is arranged at the right end of the inner and outer cleaning cabin.

[0009] The fine inner cleaning structure comprises:

[0010] A conveying structure for conveying the diesel engine common rail pipe after preliminary inner and outer cleaning.

[0011] A guide rail clamping structure capable of clamping the diesel engine common rail pipe and adjusting the orientation, which is arranged at the side end of the output end of the conveying structure.

[0012] A positioning outer cabin is arranged at the left side end of the guide rail clamping structure, and a transverse conveying guide rail is arranged in the inner part of the positioning outer cabin, and a soft robot part is arranged on the top end conveying part surface of the conveying guide rail.

[0013] The soft robot part comprises:

[0014] A shell;

[0015] A phased array ultrasonic transducer array is encapsulated in an array form on the front end surface of the shell, and the array is composed of multiple independently driven piezoelectric ceramic sheets.

[0016] An endoscopic fiber-optic photoacoustic sensing array, in which a sensing probe is axially passed through the central through hole of the shell and located in the annular center of the phased array ultrasonic transducer array, and a front end surface of the sensing probe is embedded with a Fabry-Perot interference cavity film sensitive to sound pressure.

[0017] A pre-scanning detection sound unit, in which multiple transceiving components are embedded on the front end surface of the shell and located radially outside the phased array ultrasonic transducer array.

[0018] A high-frequency pulsating liquid flow nozzle is arranged in front of the shell and communicates with an external liquid supply structure through a flow channel arranged in the shell.

[0019] Preferably, an outer drying box for drying the diesel engine common rail pipe after preliminary inner and outer cleaning is arranged at the side end of the conveying plane of the conveying structure, the external liquid supply structure is composed of a liquid supply pump box and a liquid supply pipe, and the liquid supply pipe communicates with the flow channel in the shell.

[0020] Preferably, an electromagnetic damping rotating ring is arranged at the front end of the shell, the electromagnetic damping rotating ring is composed of an electromagnetic damper and a rotating ring, an external sleeve of the rotating ring is sleeved with a positioning member, the phased array ultrasonic transducer array is arranged outside the positioning member and rotates with the rotating ring, a rotating disc is arranged on the front end surface of the shell, and a bidirectional driving member is arranged at the side end of the rotating disc.

[0021] Preferably, the left and right output ends of the bidirectional driving member are provided with transmission rod frame structures, and the ends of the transmission rod frame structures are provided with contact feedback soft balls.

[0022] Preferably, the inside of the shell is provided with a servo driving member, the side end of the servo driving member is provided with a main bevel gear, the side end gear surface of the main bevel gear is equally divided and connected with three groups of synchronous bevel gear rods, the three groups of synchronous bevel gear rods are composed of a rod body and bevel gears provided on the top and bottom of the rod body, and the side ends of the three groups of synchronous bevel gear rods are connected with limit gears.

[0023] Preferably, the ends of the three groups of synchronous bevel gear rods are connected with transmission bevel gears, the side end of the transmission bevel gear is provided with an angle encoder, the side end of the angle encoder is provided with a transmission member, the side end of the transmission member is provided with a rotating seat, the inside of the rotating seat is rotatably connected with an adjusting rod, and the end of the adjusting rod is provided with an execution air bag.

[0024] Preferably, the side of the conveying structure is provided with a cleaning conveying structure, the side end of the cleaning conveying structure is provided with a frequency-adjustable resonance structure, the side end of the resonance structure is provided with a scanning structure, the side end of the scanning structure is provided with a transverse guide rail clamping conveying structure, and the side end of the fine internal cleaning structure is provided with a marking end.

[0025] Preferably, the bottom of the internal and external cleaning cabins is provided with a liquid receiving groove, and the top of the internal and external cleaning cabins is provided with a circulating pump box.

[0026] Preferably, the surface of the fine internal cleaning structure is provided with a general control end, the general control end is in communication connection with integrated controllers in the external polishing structure, the internal and external cleaning cabins, the guide rail clamping structure, the transverse conveying guide rail and the soft robot part, and is used for coordinating the full-automatic cleaning process.

[0027] Preferably, functional nanoparticles can be added to the cleaning liquid provided by the liquid supply pump box, the integrated controller is provided with a coating working mode, in the coating working mode, the phased array ultrasonic transducer array generates a non-destructive cavitation field, so that the nanoparticles are deposited in situ on the inner wall of the cleaned pipeline to form a functional coating.

[0028] Compared with the prior art, the present application has the following advantages:

[0029] This invention integrates a complete process, from external grinding and multi-stage ultrasonic coarse cleaning to intelligent pre-inspection and diversion, robotic endoscopic fine cleaning, in-situ functional coating, and laser marking. Firstly, it achieves fully automated production line operation from coarse to fine cleaning, significantly improving cleaning efficiency and consistency and eliminating quality fluctuations caused by manual intervention. Secondly, the soft robotic unit integrates a phased array ultrasonic transducer array and an endoscopic fiber optic photoacoustic sensor array, forming an intelligent closed loop of detection, cleaning, and re-inspection. This not only accurately locates microscopic stains and cracks with high-resolution images but also performs targeted removal through the synergistic effect of focused ultrasound and high-frequency pulsating jets, achieving non-destructive deep cleaning while simultaneously conducting in-situ quality assessment. Thirdly, the pre-inspection unit, composed of a frequency-adjustable resonant structure and an optical scanning structure, combined with intelligent analysis at the central control unit, enables the overall system to classify and automatically divert workpieces based on their condition. This allows lightly contaminated workpieces to pass quickly, while only essential workpieces undergo deep processing, significantly saving energy and material costs. Furthermore, the unique coating operation mode expands the functional boundaries of the device. Utilizing a controllable cavitation field, nanoparticles are deposited in situ on the clean inner wall to form a functional coating, achieving a value enhancement from repair to reinforcement. Finally, the circulating pump box and receiving tank enable green recycling of the cleaning agent, while the terminal marking end assigns unique identification information to each workpiece, achieving end-to-end data traceability. This ensures exceptional cleaning quality and structural safety, and represents a significant advancement in intelligence, functionality, and resource efficiency. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the main structure of a diesel engine common rail pipeline cleaning device according to the present invention;

[0031] Figure 2 This is a schematic diagram of the fine internal cleaning structure in a diesel engine common rail pipeline cleaning device of the present invention;

[0032] Figure 3 This is a schematic diagram of the internal cross-sectional structure of the positioning outer chamber in a diesel engine common rail pipeline cleaning device of the present invention;

[0033] Figure 4 This is a schematic diagram of the soft robot unit in a diesel engine common rail pipeline cleaning device of the present invention;

[0034] Figure 5 This is a schematic diagram of the internal cross-sectional structure of the housing in a diesel engine common rail pipeline cleaning device of the present invention;

[0035] Figure 6 This invention relates to a diesel engine common rail pipeline cleaning device. Figure 5 A magnified structural diagram at point A.

[0036] In the figure: 100, external polishing structure; 200, circulating pump box; 300, internal and external cleaning cabin; 400, fine internal cleaning structure; 500, marking end; 600, liquid receiving groove; 700, external drying box; 800, conveying structure; 900, guide rail clamping structure; 110, cleaning conveying structure; 120, positioning outer warehouse; 130, resonance structure; 140, scanning structure; 150, transverse guide rail clamping conveying structure; 160, transverse conveying guide rail; 170, soft robot part; 171, shell; 172, endoscopic optical fiber photoacoustic sensor array; 173, electromagnetic damping rotating ring; 174, positioning piece; 175, phased array ultrasonic transducer array; 176, rotating disc; 177, bidirectional driving piece; 178, high-frequency pulsating liquid flow nozzle; 179, transmission rod frame structure; 1790, contact feedback soft ball; 1791, transmission piece; 1792, rotating seat; 1793, adjusting rod; 1794, execution air bag; 1795, servo driving piece; 1796, main bevel gear; 1797, synchronous bevel gear rod; 1798, transmission bevel gear; 1799, angle encoder; 1780, limit gear; 180, liquid supply pump box. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0038] In the present embodiment, with reference to Figures 1-6 As shown in the figure: a diesel engine common rail pipeline cleaning device, comprising:

[0039] The external polishing structure 100 is used for cleaning the outside of the diesel engine common rail pipe before polishing (such as Figure 1 As shown in the figure, it is located at the starting end of the assembly line, and is responsible for the preliminary cleaning and polishing of the outer surface of the common rail pipe); The internal and external cleaning cabin 300 is arranged at the right end of the external polishing structure 100, and the internal and external cleaning cabin 300 is used for sequentially immersing and cleaning the diesel engine common rail pipe with different types of cleaning agents, and deep cleaning by ultrasonic (such as Figure 1As shown, by multi-stage chemical soaking and macroscopic ultrasonic cavitation, most of the oil, carbon and other attachments are removed); fine internal cleaning structure 400 is installed at the right end of the internal and external cleaning cabin 300; fine internal cleaning structure 400 includes: a conveying structure 800 for conveying the diesel engine common rail pipe after preliminary internal and external cleaning; a guide rail clamping structure 900 capable of clamping the diesel engine common rail pipe and adjusting the orientation, the guide rail clamping structure 900 is installed at the side end of the output end of the conveying structure 800; a positioning outer warehouse 120 is installed at the left side end of the guide rail clamping structure 900, the inside of the positioning outer warehouse 120 is installed with a transverse conveying guide rail 160, the top end conveying part surface of the transverse conveying guide rail 160 is installed with a soft robot part 170; the soft robot part 170 includes: a shell 171; a phased array ultrasonic transducer array 175 encapsulated in an array form on the front end face of the shell 171, the array is composed of multiple independently driven piezoelectric ceramic sheets; an endoscopic fiber optic photoacoustic sensing array 172, the sensing probe passes through the central through hole of the shell 171 along the axial direction and is located in the annular center of the phased array ultrasonic transducer array 175, the front end face of the sensing probe is embedded with a Fabry-Perot interference cavity film sensitive to sound pressure; a pre-scanning detection sound unit, multiple transceiver components are embedded in the front end face of the shell 171 and located radially outside the phased array ultrasonic transducer array 175; a high-frequency pulsating liquid flow nozzle 178 is arranged in front of the shell 171 and communicates with an external liquid supply structure through a flow channel arranged in the shell 171. The conveying plane side end of the conveying structure 800 is installed with an outer drying box 700 for drying the diesel engine common rail pipe after preliminary internal and external cleaning, the external liquid supply structure is composed of a liquid supply pump box 180 and a liquid supply pipe, the liquid supply pipe communicates with the flow channel in the shell 171. The front end of the shell 171 is installed with an electromagnetic damping rotating ring 173, the electromagnetic damping rotating ring 173 is composed of an electromagnetic damper and a rotating ring, the outside of the rotating ring is sleeved with a positioning piece 174, the phased array ultrasonic transducer array 175 is installed outside the positioning piece 174 and rotates with the rotating ring, the front end face of the shell 171 is installed with a rotating disc 176, the side end of the rotating disc 176 is installed with a bidirectional driving piece 177. The left and right side output ends of the bidirectional driving piece 177 are installed with transmission rod holder structures 179, the ends of the transmission rod holder structures 179 are installed with contact feedback soft balls 1790, the high-frequency pulsating liquid flow nozzle 178 is installed on the outer surface of the bidirectional driving piece 177, and the inside of the bidirectional driving piece 177 is provided with a conveying flow channel communicating with the flow channel in the shell 171. The inside of the shell 171 is installed with a servo driving piece 1795, the side end of the servo driving piece 1795 is installed with a main bevel gear 1796, the side end gear face of the main bevel gear 1796 is equally divided and meshed with three groups of synchronous bevel gear rods 1797, the three groups of synchronous bevel gear rods 1797 are composed of a rod body and bevel gears installed on the top and bottom of the rod body, and the side end of the three groups of synchronous bevel gear rods 1797 is meshed with a limit gear 1780.The end bevel gear of the three sets of synchronous bevel gear rods 1797 is meshingly connected with a transmission bevel gear 1798, the side end of the transmission bevel gear 1798 is provided with an angle encoder 1799, the side end of the angle encoder 1799 is provided with a transmission part 1791, the side end of the transmission part 1791 is provided with a rotating seat 1792, the inside of the rotating seat 1792 is rotationally connected with an adjusting rod 1793, and the end of the adjusting rod 1793 is provided with an execution air bag 1794. First, the diesel engine common rail pipe to be cleaned is sent into the external polishing structure 100 by a mechanical arm or a conveying belt. The structure uniformly polishes the outer surface of the pipe by a flexible grinding brush or a controllable pressure sand blasting system, removes rust, paint layers or stubborn external dirt, provides a clean appearance basis for subsequent cleaning and detection processes, and avoids that external pollutants are brought into the subsequent cleaning cabin. Then the common rail pipe polished externally is automatically transferred to the internal and external cleaning cabin 300. In the internal and external cleaning cabin 300, the common rail pipe will be immersed in a plurality of tank bodies provided with cleaning agents with different properties (such as alkaline degreasing agent, acidic rust remover, organic solvent, etc.) in sequence. After each soaking stage, the integrated macrosonic generator in the internal and external cleaning cabin 300 is started to generate high-frequency vibration to cause strong cavitation effect between the cleaning liquid and the inner and outer walls of the pipe. The effect generates countless tiny bubbles and instantaneously collapses to generate shock waves, which can effectively strip and disperse oil stains, gums and part of carbon deposits on the inner and outer surfaces of the pipe. This stage aims to remove most of the pollutants to reduce the load of the subsequent precise internal cleaning, accompanied by high-pressure spraying and subsequent wind cutting treatment operations.

[0040] Secondly, the common rail pipe after completing the immersion ultrasonic cleaning is taken out by a mechanical device (clamping device) and placed on the conveying structure 800 of the precise internal cleaning structure 400. The conveying structure 800 horizontally transports the common rail pipe, and when passing through the external drying oven 700, the external drying oven 700 generates controllable temperature hot air to preliminarily dry the outer surface and inner cavity of the pipe. The main purpose is to remove residual cleaning liquid droplets to prevent them from interfering with the subsequent precise internal cleaning process (especially optical detection and acoustic coupling), and to improve the safety of the working environment (where the external drying oven 700 is used for preliminary drying, mainly to remove a large amount of free cleaning liquid droplets to prevent them from interfering with the subsequent precise detection. After the soft robot part 170 enters, a small amount of clean atomized liquid flow can be introduced to wet the inner wall to optimize ultrasonic coupling and cleaning effect).

[0041] Then the conveying structure 800 sends the pre-dried common rail pipe to the output end. The guide rail clamping structure 900 then acts, and the self-adaptive clamp firmly grabs the common rail pipe and adjusts the spatial orientation of the pipe according to the control instruction to accurately align and send the pipe into the predetermined working position of the positioning outer bin 120, ensuring that the axis of the common rail pipe is aligned with the advancing direction of the soft robot part 170 on the horizontal conveying guide rail 160 in the bin.

[0042] Then the lateral conveying rail 160 starts to work, and the soft robot part 170 at the top end of it is smoothly sent into the common rail pipeline entrance. During the process of entering or after reaching the initial working position, the servo drive 1795 (such as a servo drive motor or a servo drive motor) inside the soft robot part 170 starts to work, drives the three sets of synchronous bevel gear rods 1797 through the main bevel gear 1796, and then drives the transmission bevel gear 1798 and the transmission member 1791, finally makes the rotating seat 1792 and the execution air bag 1794 at the end thereof produce angular adjustment. According to the situation, the execution air bag 1794 can be inflated or deformed, so that its outer wall is softly attached to the inner wall of the pipeline, and the robot is preliminarily radially centered and stabilized in the pipeline.

[0043] Then, the pre-scanning detection sound unit at the front end of the robot first starts to work. It emits a wide-beam detection sound wave to the inner wall of the pipeline, and quickly and preliminarily judges whether there is obvious blockage, large blocky attachments or abnormal protrusions in the front large range according to the echo signal, to generate a rough acoustic profile map, providing navigation reference for subsequent precise scanning. Then, the core probe of the endoscopic fiber-optic photoacoustic sensing array 172 starts to work. The Fabry-Perot interference cavity film at the front end thereof is extremely sensitive to sound pressure. The phased array ultrasonic transducer array 175 located at the periphery thereof is controlled by the integrated controller in the soft robot part 170 to emit focused ultrasonic beams with specific phase delays, scanning and irradiating specific areas of the inner wall of the pipeline. When the sound wave acts on the inner wall stain, it will excite it to generate weak photoacoustic signals (further specifically, laser induction can be combined to enhance this effect). The endoscopic fiber-optic photoacoustic sensing array 172 captures these signals, and since the probe thereof is located at the annular center of the phased array ultrasonic transducer array 175, it can obtain detection data with extremely high signal-to-noise ratio. By processing these signals, a high-resolution image of the inner wall of the pipeline can be generated, clearly identifying micro cracks, residual thin-layer carbon deposits or specific chemical contaminants and their accurate positions. Among them, the electromagnetic damping rotating ring 173 can drive the positioning member 174 and the entire phased array ultrasonic transducer array 175 to rotate slowly, realizing 360-degree circumferential scanning imaging of the inner wall of the pipeline. Once the stain is accurately positioned through the above operation, the cleaning program is immediately started, and two modes are cooperated or alternated:

[0044] One is to form a focused ultrasonic striking mode: that is, to make the phased array ultrasonic transducer array 175 adjust the phase of the emitted beam, and accurately focus the ultrasonic wave energy on the identified stain point. High-intensity focused ultrasound can produce strong cavitation effect and microjet in a very small local area, mechanically crushing and peeling off stubborn stains, while having almost no effect on the surrounding clean metal matrix.

[0045] Secondly, a high-frequency pulsating jet flushing mode is formed: the liquid supply pump box 180 pumps the special fine cleaning liquid to the high-frequency pulsating liquid jet nozzle 178 through the liquid supply pipe and the flow channel in the shell 171. The high-frequency pulsating liquid jet nozzle 178 generates a high-frequency pulse jet, which directly impacts the ultrasonic loosened stain area. The pulse jet has stronger shearing force and flushing effect, can quickly flush away the peeled-off dirt particles, and is discharged through the backflow system. The bidirectional driving member 177 can adjust its angle through the transmission rod frame structure 179 outside, that is, the servo driving member 1795 can drive the rotating disc 176 and the structure at the front end of the rotating disc 176 to rotate in a circumferential angle, so that the bidirectional driving member 177, the transmission rod frame structure 179 and the contact feedback soft ball 1790 can displace 360° along the inner wall of the diesel engine common rail pipe, thereby changing the jet direction of the high-frequency pulsating liquid jet nozzle 178 and expanding the flushing coverage. The contact feedback soft ball 1790 at the end (the contact feedback soft ball 1790 is provided with a micro-pressure detection sensor inside, which is used to contact the pipe wall during the non-jet period to calibrate the robot pose and provide spatial coordinate feedback for the nozzle angle, so as to realize more accurate directional flushing) can provide flexible tactile feedback when contacting the pipe wall, preventing the mechanical structure from scratching the precise inner wall.

[0046] After one positioning, striking and flushing cycle, the endoscopic fiber-optic photoacoustic sensor array 172 and the phased array ultrasonic transducer array 175 immediately scan and image the cleaned area again, compare the new image data with the pre-cleaning image data, and evaluate the stain removal rate in real time. If the preset cleanliness threshold is not reached, the whole cleaning operation is performed again until the point is accepted. Thus, a closed-loop intelligent control process of detection, cleaning and re-detection is formed. In the above process, the soft robot part 170 can move axially along the pipeline in sections under the accurate step-by-step driving of the transverse conveying guide rail 160, and the above operation is repeatedly performed on each section of the pipeline until the deep cleaning and quality inspection of all areas in the diesel engine common rail pipe are completed. After completing all the internal cleaning operations, the soft robot part 170 retracts all the execution mechanisms (such as the contraction execution air bag), and is smoothly withdrawn from the diesel engine common rail pipe by the rotation of the transverse conveying guide rail 160 and the liquid supply pipe. The guide rail clamping structure 900 takes out the cleaned common rail pipe from the positioning outer cabin 120, and the cleaning conveying structure 110 continues the operation link.

[0047] According to Figures 1-3As shown, the side of the conveying structure 800 is provided with a cleaning conveying structure 110, the side end of the cleaning conveying structure 110 is provided with a frequency-adjustable resonance structure 130, the side end of the resonance structure 130 is provided with a scanning structure 140, the side end of the scanning structure 140 is provided with a transverse guide rail clamping conveying structure 150, the side end of the fine internal cleaning structure 400 is provided with a marking end 500, and the transverse guide rail clamping conveying structure 150 is used to convey the cleaned diesel common rail pipe to the marking end 500 for marking work. The bottom of the internal and external cleaning cabin 300 is provided with a liquid receiving groove 600, and the top surface of the top body of the internal and external cleaning cabin 300 is provided with a circulating pump box 200. The surface of the fine internal cleaning structure 400 is provided with a general control end, which is in communication connection with the integrated controller in the external polishing structure 100, the internal and external cleaning cabin 300, the guide rail clamping structure 900, the transverse conveying guide rail 160 and the soft robot part 170, and is used for coordinating the full-automatic cleaning process. Functional nanoparticles can be added to the cleaning liquid provided by the liquid supply pump box 180, the integrated controller is provided with a coating working mode, under the coating working mode, the phased array ultrasonic transducer array 175 generates a non-destructive cavitation field, so that the nanoparticles are deposited in situ on the inner wall of the cleaned pipe to form a functional coating. The above diesel common rail pipe is sequentially immersed in cleaning tanks with different chemical properties, and cavitation cleaning is carried out in combination with high-strength macroscopic ultrasonic waves. The circulating pump box 200 works continuously to maintain the activity and cleanliness of the cleaning liquid. The waste liquid after cleaning flows into the bottom liquid receiving groove 600 and enters the centralized treatment or recycling system. This stage aims to remove more than 90% of the internal and external surface macroscopic contaminants.

[0048] And in the above through the cleaning conveying structure 110, so that the diesel engine common rail pipe into the frequency adjustable resonance structure 130. Resonance structure 130 to the common rail pipe exert a series of controllable frequency mechanical excitation, and accurately measure its vibration response spectrum. Since the internal stubborn carbon, blockage or micro cracks will significantly change the inherent frequency and damping characteristics of the pipe body, by analyzing the spectrum changes, the whole can be non-destructive and quickly judge the pipe internal contamination attachment strength, roughly distribution and structural integrity of hidden dangers, and further the internal cleaning of waste and waste liquid as soon as possible (cleaning conveying structure 110, provided with negative pressure suction collection interface, to recycle waste liquid and particles in real time, to prevent secondary pollution), then, the diesel engine common rail pipe through the scanning structure 140. Make scanning structure 140 using high-speed line array camera or laser profile scanner, fast imaging of the pipe outer surface and visible end cavity, check whether there are resonance structure 130 did not find the macro defects (such as deep hole blockage, severe deformation) or residual large block pollutants. And in this, the total control control end receives and fuses the data from the resonance analysis of resonance structure 130 and the optical scanning of scanning structure 140 in real time. Among them, the laser scanning structure of external polishing structure 100 scans the diesel engine common rail pipe in advance, and based on the built-in analysis, the total control control end automatically classifies and rates the workpiece state:

[0049] As good: that is, internal pollution, structure is perfect. The total control control end determines that there is no need to enter the expensive fine internal cleaning process.

[0050] As needed: that is, there are stubborn pollutants or need to be checked in depth. The total control control end determines that the fine internal cleaning process must be entered.

[0051] As scrap: that is, serious structural damage (such as cracks) is found. The total control control end alarms and instructs to remove the workpiece from the production line (scrap parts are removed from the line by manual or special mechanical arm).

[0052] And for the diesel engine common rail pipe judged as good, the cleaning conveying structure 110 directly conveys it to the transverse guide rail clamping conveying structure 150 at the end, preparing to enter the marking link. This path greatly saves time and energy consumption. And for the diesel engine common rail pipe judged as needed, the guide rail clamping structure 900 clamps and displaces it to the relevant position inside the positioning outer warehouse 120, and then executes the robot fine cleaning and in-situ detection process detailed in the last reply.

[0053] When the cleaning quality reaches the preset excellent standard, the total control end can start the coating working mode according to the preset program or instruction. In this mode, the liquid supply pump box 180 valve is switched to deliver the suspension containing specific functional nanoparticles (such as friction-reducing, wear-resistant, and corrosion-resistant nanoparticles) to the soft robot part 170. The phased array ultrasonic transducer array 175 of the soft robot part 170 adjusts the working mode to generate a uniform and non-destructive low-frequency cavitation field. The high-frequency pulsating liquid jet nozzle 178 uniformly atomizes and sprays the nanoparticle suspension into the cleaned and new pipeline inner wall. The whole is uniformly dispersed in the liquid under the action of the precisely controlled ultrasonic cavitation field, and relies on the effect of acoustic swimming force to overcome the surface energy barrier, and is in-situ and orderly deposited and adhered to the metal inner wall surface to form a dense and uniform functional protective or reinforcing coating. Subsequently, the whole can be switched to introduce inert gas for gentle drying to solidify the coating.

[0054] After that, all the common rail pipes judged to be qualified, whether from the excellent or the processing, are finally precisely conveyed to the marking end 500 by the transverse guide rail clamping conveying structure 150. The marking end 500 generates a permanent two-dimensional code or character mark on the non-critical position of the pipeline according to the identity information (including cleaning batch, process path, coating type, quality grade, etc.) given by the total control system, using laser marking or micro-impact marking technology. The workpiece after marking is the final product, which is conveyed to the unloading area, waiting for packaging or assembly. The whole process data is uploaded to the management cloud to realize product whole life cycle traceability.

[0055] The wiring diagram of the endoscope type optical fiber photoacoustic sensing array 172, the phased array ultrasonic transducer array 175 and the angle encoder 1799 in the application belongs to the common knowledge in the art, and the working principle is a known technology. The model is selected according to the actual use, so the control mode and wiring arrangement of the endoscope type optical fiber photoacoustic sensing array 172, the phased array ultrasonic transducer array 175 and the angle encoder 1799 are not explained in detail.

[0056] Although the application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to part of the technical features, and any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the application shall be included in the protection scope of the application.

Claims

1. A diesel common rail line cleaning device, characterized by , comprising: An external polishing structure (100) for pre-cleaning external polishing of a diesel engine common rail pipe; An internal and external cleaning cabin (300) installed at the right end of the external polishing structure (100), which is used to sequentially soak and clean the diesel engine common rail pipe with different types of cleaning agents, and perform deep cleaning through ultrasonic; A fine internal cleaning structure (400) installed at the right end of the internal and external cleaning cabin (300); The fine internal cleaning structure (400) comprises: A conveying structure (800) for conveying the diesel engine common rail pipe after preliminary internal and external cleaning; A guide rail clamping structure (900) capable of clamping the diesel engine common rail pipe and adjusting the orientation, which is installed at the side end of the output end of the conveying structure (800); A positioning outer cabin (120) installed at the left side end of the guide rail clamping structure (900), the inside of the positioning outer cabin (120) is installed with a transverse conveying guide rail (160), and the top end conveying part surface of the transverse conveying guide rail (160) is installed with a soft robot part (170); The soft robot part (170) comprises: A shell (171); A phased array ultrasonic transducer array (175) encapsulated in an array form at the front end face of the shell (171), which is composed of multiple independently driven piezoelectric ceramic sheets; An endoscopic fiber-optic photoacoustic sensing array (172) with a sensing probe passing through the central through hole of the shell (171) in the axial direction and located in the annular center of the phased array ultrasonic transducer array (175), and the front end face of the sensing probe is embedded with a Fabry-Perot interference cavity film sensitive to sound pressure; A pre-scanning detection sound unit with multiple transceiver components embedded in the front end face of the shell (171) and located radially outside the phased array ultrasonic transducer array (175); A high-frequency pulsating liquid flow nozzle (178) arranged in front of the shell (171) and connected with an external liquid supply structure through a flow channel arranged in the shell (171); The front end of the shell (171) is provided with an electromagnetic damping rotating ring (173) composed of an electromagnetic damper and a rotating ring, the outside of the rotating ring is provided with a positioning piece (174), the phased array ultrasonic transducer array (175) is arranged outside the positioning piece (174) and rotates with the rotating ring, and the front end face of the shell (171) is provided with a rotating disc (176), the side end of the rotating disc (176) is provided with a bidirectional driving piece (177); The left and right output ends of the bidirectional driving piece (177) are provided with a transmission rod rack structure (179), the distal end of the transmission rod rack structure (179) is provided with a contact feedback soft ball (1790), the high-frequency pulsating liquid flow nozzle (178) is arranged on the outer surface of the bidirectional driving piece (177), and the inside of the bidirectional driving piece (177) is provided with a conveying flow channel connected with the flow channel in the shell (171). The inside of the shell (171) is provided with a servo drive (1795), the side end of the servo drive (1795) is provided with a main bevel gear (1796), the side end gear surface of the main bevel gear (1796) is equally divided and connected with three groups of synchronous bevel gear rods (1797), three groups of the synchronous bevel gear rods (1797) are composed of a rod body and bevel gears provided at the top and bottom of the rod body, the side end of the three groups of synchronous bevel gear rods (1797) is connected with a limiting gear (1780); The end bevel gear of the three groups of the synchronous bevel gear rods (1797) is connected with a transmission bevel gear (1798), the side end of the transmission bevel gear (1798) is provided with an angle encoder (1799), the side end of the angle encoder (1799) is provided with a transmission member (1791), the side end of the transmission member (1791) is provided with a rotating seat (1792), the inside of the rotating seat (1792) is rotatably connected with an adjusting rod (1793), the end of the adjusting rod (1793) is provided with an execution air bag (1794).

2. The diesel common rail pipe cleaning device of claim 1, wherein: The conveying plane side end of the conveying structure (800) is provided with an external drying box (700) for drying the diesel engine common rail pipe after preliminary internal and external cleaning, the external liquid supply structure is composed of a liquid supply pump box (180) and a liquid supply pipe, and the liquid supply pipe is in communication with the flow channel in the shell (171).

3. The diesel common rail pipe cleaning device of claim 1, wherein: The side of the conveying structure (800) is provided with a cleaning conveying structure (110), the side end of the cleaning conveying structure (110) is provided with a frequency-adjustable resonance structure (130), the side end of the resonance structure (130) is provided with a scanning structure (140), the side end of the scanning structure (140) is provided with a transverse guide rail clamping conveying structure (150), the side end of the fine internal cleaning structure (400) is provided with a marking end (500), and the transverse guide rail clamping conveying structure (150) is used for conveying the cleaned diesel engine common rail pipe to the marking end (500) for marking operation.

4. The diesel common rail pipe cleaning apparatus of claim 1, wherein: The bottom of the internal and external cleaning cabin (300) is provided with a liquid receiving groove (600), and the top frame surface of the internal and external cleaning cabin (300) is provided with a circulating pump box (200).

5. The diesel common rail pipe cleaning device of claim 1, wherein: The surface of the fine internal cleaning structure (400) is provided with a general control end, which is in communication connection with the integrated controller in the external polishing structure (100), the internal and external cleaning cabin (300), the guide rail clamping structure (900), the transverse conveying guide rail (160) and the soft robot part (170), and is used for coordinating the full-automatic cleaning process.

6. The diesel common rail pipe cleaning device of claim 5, wherein: Functional nanoparticles can be added in the cleaning liquid provided by the liquid supply pump box (180), the integrated controller is provided with a coating working mode, in which the phased array ultrasonic transducer array (175) generates a non-destructive cavitation field to make the nanoparticles deposit in situ on the inner wall of the cleaned pipeline to form a functional coating.

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