Intelligent cleaning system for inner wall of barrel

Abstract

The invention discloses an intelligent cleaning system for the inner wall of a barrel, and belongs to the technical field of equipment cleaning. Comprising an automatic cleaning system, a manual cleaning system, a supporting device and an auxiliary supporting system. The cylinder body is horizontally placed, and supporting devices are arranged at the bottom of the cylinder body at intervals; the manual cleaning system is located at one end of the barrel, the auxiliary supporting system is located at the other end of the barrel, and the automatic cleaning system is placed on the auxiliary supporting system. After the height of the barrel and the height of the auxiliary supporting system are matched in a butt joint mode, the automatic cleaning system enters the barrel along the inner wall of the barrel to clean the barrel, and the manual cleaning system is used for bearing a water tank and a manual flushing tool; the problem of cleaning the inner wall of the large-diameter barrel is solved, the barrel cleaning efficiency is greatly improved, and meanwhile it is ensured that the surface quality of the inner wall of the barrel is not affected or damaged.

Description

Technical Field

[0001] This invention belongs to the field of equipment cleaning technology, specifically an intelligent cleaning system for the inner wall of a cylinder. Background Technology

[0002] Currently, the cleaning of the inner walls of large-diameter, ultra-long aircraft cylinders is mainly carried out manually, using methods such as fire hoses and manual wiping. The dirt on the inner walls primarily consists of ablation residue and chemical powder. This approach suffers from problems such as low cleaning efficiency, difficulty in guaranteeing cleaning effectiveness, and the potential harm to human health from the dirt on the inner walls in a semi-enclosed environment.

[0003] Although existing cleaning equipment and methods are widely used in many fields, they still have some technical defects and shortcomings, mainly reflected in the following aspects: Energy and resource consumption issues: Some equipment relies on high-power motors and heating systems, resulting in high energy consumption. Traditional cleaning equipment requires a large amount of water, especially when water recycling is inadequate, leading to low water resource utilization. An incomplete media recovery and recycling system may result in the direct discharge of toxic waste liquid, polluting the environment.

[0004] Limitations of cleaning effect: It is difficult to thoroughly clean when the working environment has a complex structure, and it cannot effectively clean some dead corners. The cleaning effect is unstable for some high-viscosity oil stains, hardened dirt or special materials.

[0005] Insufficient automation and intelligence: It mainly relies on manual or handheld cleaning, which is inefficient and inconsistent. It lacks the ability to detect dirt in real time and adapt to change, making it difficult to achieve precise automatic control. Summary of the Invention

[0006] This invention overcomes the shortcomings of existing technologies and proposes an intelligent cleaning system for the inner wall of a cylinder, which can automatically clean large-diameter and ultra-long cylinders, solving the problems of low cleaning efficiency and poor cleaning effect for special cylinders.

[0007] This invention is achieved through the following technical solution: An intelligent cleaning system for the inner wall of a cylinder includes an automatic cleaning system, a manual cleaning system, a support device, and an auxiliary support system. The cylinder is placed horizontally, with two support devices supporting the bottom of the cylinder. The manual cleaning system is located at one end of the cylinder, and the auxiliary support system is located at the other end. The automatic cleaning system is placed on the auxiliary support system. After adjusting the height of the auxiliary support system to align with the cylinder, the automatic cleaning system enters the cylinder along the inner wall to clean it. The auxiliary support system serves to support the automatic cleaning system and also provides support for the water, cleaning agent, and pipe winding used in the cleaning process. The manual cleaning system carries the water tank, cleaning agent, and manual cleaning tools. Cleaning personnel use the manual cleaning system to clean the irregular structures of the cylinder.

[0008] Furthermore, the auxiliary support system includes a traveling and lifting component, a transmission component, an air tank component, a water tank component, and a water pipeline component; the traveling and lifting component consists of a base, a lifting mechanism, and casters; casters are installed at the four bottom corners of the base, and lifting mechanisms are installed at the four top corners of the base, with a bracket connected to the rear side of the base; the water pipeline component is connected to the water tank component, which is mounted on the base; the transmission component, air tank component, and water pipeline component are mounted on the bracket.

[0009] Furthermore, the auxiliary support system also includes a laser rangefinder component, an air pipeline component, an electrical control box component, an electrical control component, and a soundproof enclosure component; the laser rangefinder component is mounted on the soundproof enclosure component; the air pipeline component consists of an oil-free air compressor, and the electrical control box component and electrical control component are mounted on the base.

[0010] Furthermore, the automatic cleaning system includes a vehicle body subsystem, a power supply subsystem, an integrated control subsystem, a vertical attitude adjustment subsystem, an integrated transmission subsystem, and an integrated execution subsystem; the power supply subsystem, integrated control subsystem, vertical attitude adjustment subsystem, integrated transmission subsystem, and integrated execution subsystem are installed on the vehicle body subsystem.

[0011] Furthermore, the vehicle body subsystem includes rubber tracks, drive wheels, load-bearing wheels, tensioner wheels, planetary reducers, servo motors, wiper blade assemblies, limit switches, and chassis steel frames; the wiper blade assembly is installed at the front end of the chassis steel frame.

[0012] Furthermore, the wiper assembly includes an electric push rod, a wiper rubber blade, a hinge, a hollow tube, and a rotating bracket; the front end of the chassis steel frame is rotatably connected to the electric push rod via the rotating bracket, and the front end of the electric push rod is hinged to the hollow tube, which is connected to the wiper rubber blade.

[0013] Furthermore, the vertical attitude adjustment subsystem includes three sets of lifting platforms, telescopic universal joints, and handwheels; the three sets of lifting platforms are installed above the power supply subsystem, and the lifting platforms are connected to telescopic universal joints and handwheels; the vertical attitude adjustment subsystem is used to adjust the telescopic height of the lifting platforms to adjust the centering of the integrated execution subsystem inside the cylinder, ensuring that the three sets of brush heads of the integrated execution subsystem can maintain the same distance from the cylinder wall.

[0014] Furthermore, the integrated transmission subsystem includes an upper housing component, a round shaft component, and a turntable component. The lower part of the upper housing component is connected to the vertical attitude adjustment subsystem, and the middle part is connected to the round shaft component. The round shaft component includes a conductive slip ring and a water slip ring, bearings, and pipelines. The conductive slip ring is used to provide power to the integrated execution subsystem. The water slip ring is used to provide water to the integrated execution subsystem. The turntable component includes a turntable, a synchronous wheel, LED lights, a camera, etc. The turntable component is connected to the round shaft component, and the turntable component carries the electric actuator component of the integrated execution subsystem.

[0015] Furthermore, the integrated execution subsystem includes a cleaning component, an electric actuator component, and a cleaning control component. The outer rotor waterproof motor of the cleaning component drives the cylindrical brush to rotate and scrub the inner wall of the cylinder. The electric actuator component mainly consists of a telescopic arm, an electric actuator, and high-pressure water pipelines, which allows the cleaning component to operate close to the inner wall of the cylinder. The cleaning control component is the core module of the integrated execution control subsystem, which controls the operation of the electric actuator component.

[0016] Furthermore, the manual cleaning system includes a second transmission component, a second air tank component, a second water tank component, a second water pipeline component, a second air pipeline component, a second electrical control box component, a second electrical control component, and a second soundproof cover component, all mounted on the second traveling component.

[0017] The beneficial effects of this invention compared to the prior art are as follows: 1. This invention employs advanced technologies such as robot systems, cleaning systems, detection systems, and control systems to improve the automation level of cleaning the inner surface of the cylinder.

[0018] 2. This system improves the cleaning speed and effect of the inner surface of the cylinder by using self-propelled robots, mechanical roller brushes, high-pressure water flushing, specialized cleaning tools, media circulation and recovery systems, and support devices.

[0019] 3. This system has a detection function during the cleaning process. By detecting the cleaning results, it can determine whether the cleaning standard requirements have been met. If the standards are not met, it can automatically detect and locate the stained areas, identify the areas that have not been cleaned, and drive the cleaning robot to clean again.

[0020] 4. This system combines automatic and manual cleaning functions, complementing each other to ensure effective cleaning. It can clean complex internal structures and hard-to-clean areas, achieving full coverage of the inner surface of the cylinder.

[0021] 5. This invention solves the problem of cleaning the inner wall of a large-diameter cylinder, thereby facilitating cleaning personnel to carry out cleaning operations on the inner wall of the cylinder, reducing the operational risks and difficulties for cleaning personnel, greatly improving the cylinder cleaning efficiency, and ensuring that it does not affect or damage the surface quality of the inner wall of the cylinder. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the intelligent cleaning system for the inner wall of the cylinder.

[0023] Figure 2 Schematic diagram of a manual cleaning system Figure 1 .

[0024] Figure 3 Schematic diagram of a manual cleaning system Figure 2 .

[0025] Figure 4 Schematic diagram of the auxiliary support system Figure 1 .

[0026] Figure 5 Schematic diagram of the auxiliary support system Figure 2 .

[0027] Figure 6 This is a schematic diagram of the traveling and lifting components.

[0028] Figure 7 This is a schematic diagram of the water pipe components.

[0029] Figure 8 Schematic diagram of an automatic cleaning system Figure 1 .

[0030] Figure 9 Schematic diagram of an automatic cleaning system Figure 2 .

[0031] Figure 10 This is a structural diagram of the wiper blade assembly.

[0032] Figure 11 This is a schematic diagram of the vertical attitude adjustment subsystem.

[0033] Figure 12 This is a schematic diagram of the integrated transmission subsystem.

[0034] Figure 13 This is a structural diagram of the turntable component.

[0035] Figure 14This is a schematic diagram of the cleaning component.

[0036] Figure 15 This is a schematic diagram of the integrated execution subsystem. Detailed Implementation

[0037] To make the technical problems to be solved, the technical solutions, and the beneficial effects of this invention clearer, the invention will be further described in detail with reference to the embodiments and accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. The technical solutions of this invention are described in detail below with reference to the embodiments and accompanying drawings, but the scope of protection is not limited thereto.

[0038] See Figures 1 to 15 This embodiment proposes an intelligent cleaning system for the inner wall of a cylinder, including an automatic cleaning system 1, a manual cleaning system 2, a support device 3, and an auxiliary support system 4. The cylinder is placed horizontally, with two support devices 3 supporting the bottom of the cylinder. The manual cleaning system 2 is located at one end of the cylinder, and the auxiliary support system 4 is located at the other end of the cylinder. The automatic cleaning system 1 is placed on the auxiliary support system 4. By adjusting the support height of the auxiliary support system 4, once the auxiliary support system 4 is aligned with the height of the cylinder, the automatic cleaning system 1 can enter the cylinder along the inner wall to clean it. The support system 4 serves two purposes: supporting the automatic cleaning system 1 and providing support for the water, cleaning agent, and pipeline winding used in the cleaning process. The manual cleaning system 1 carries the water tank, cleaning agent, and manual cleaning tools. Cleaning personnel can stand on the manual cleaning system 1 or enter the cylinder through the manual cleaning system 1 to clean the irregular structures of the cylinder. Specifically, the cleaning operation is carried out manually by hand using high-pressure flushing, spraying cleaning agent, vacuuming, and polishing tools. Through the combination of automatic and manual cleaning, the regular and irregular inner walls of the large cylinder can be cleaned in combination.

[0039] Specifically, the auxiliary support system 4 includes a traveling lifting component 401, a transmission component 402, an air tank component 403, a water tank component 404, a water pipeline component 405, a laser rangefinder component 406, an air pipeline component 407, an electrical control box component 408, an electrical control component 409, and a soundproof cover component 410. The traveling and lifting component 401 consists of a base 4011, a lifting mechanism 4012, and casters 4013. Casters 4013 are installed at the four bottom corners of the base 4011, and lifting mechanisms 4012 are installed at the four top corners of the base 4011. A bracket 4014 is connected to the rear side of the base 4011. A water tank component 404 is installed on the base 4011. A transmission component 402, an air tank component 403, a water pipe component 405, an electrical control box component 408, and an electrical control component 409 are all installed on the bracket 4014.

[0040] The traveling and lifting component 401 is mainly used to support the automatic cleaning system 1, enabling the automatic cleaning system 1 to travel into the cylinder to perform operations.

[0041] The transmission component 402 mainly consists of a high-pressure water pump and an electric motor. The electric motor drives the water and electricity reel to transport high-pressure water and cleaning agent through pipelines to the automatic cleaning system, where the high-pressure water and cleaning agent are sprayed onto the work area.

[0042] The air tank component 403 mainly consists of an air tank, an air-liquid storage tank, a pressure regulating valve, a solenoid valve, and a pressure switch. It provides cleaning agent during the scrubbing operation of the automatic cleaning system 1. Compressed air transports the cleaning agent from the air-liquid storage tank through pipelines to the nozzles of the automatic cleaning system 1, spraying it onto the inner wall of the cylinder.

[0043] The water tank component 404 mainly consists of a clean water tank, a wastewater tank, and a water tank filter. The water tank component primarily integrates an external water source with a water conversion tank for the automatic cleaning system, and collects wastewater.

[0044] The water pipe component 405 is connected to the water tank component 404. The water pipe component 405 includes a high-pressure water pump outlet pipe, a water and electricity reel, and a self-priming pump. The water pipe component mainly transmits high-pressure water and control signals to the automatic cleaning system through the water and electricity reel pipe to realize the cleaning operation.

[0045] The laser rangefinder component 406 mainly consists of a laser rangefinder, a rangefinder bracket, etc. The laser rangefinder component 406 mainly monitors the distance traveled by the automatic cleaning system through infrared light.

[0046] Air piping component 407 mainly consists of an oil-free air compressor. The air piping component is primarily designed to provide compressed air at 0.8 MPa to power the delivery of the cleaning agent.

[0047] The electrical control box component 408 mainly integrates various components of the control system to realize control functions; the electrical control component 409 mainly consists of a tablet computer, power supply module, control wiring harness assembly, etc.; the soundproof enclosure component 410 is mainly used to assist in the integrated packaging of various components of the support system. The soundproof enclosure component includes an arc platform, which is wrapped around the base and is used to support the automatic cleaning system and seamlessly connect with the cylinder.

[0048] Specifically, the automatic cleaning system 1 includes a vehicle body subsystem 101, a power supply subsystem 102, an integrated control subsystem 103, a vertical attitude adjustment subsystem 104, an integrated transmission subsystem 105, and an integrated execution subsystem 106. The vehicle body subsystem 101 mainly consists of rubber tracks, drive wheels, load-bearing wheels, tensioner wheels, planetary reducers, servo motors, wiper assembly 107, limit switches, chassis steel frame, etc.

[0049] The vehicle body subsystem 101 is the walking structure of the automatic cleaning system, enabling reciprocating movement within the large cylinder. A servo motor, after being reduced in speed by a planetary reducer, drives the drive wheel to rotate, thus propelling the vehicle body subsystem 101. Limit switches are installed at both the front and rear ends of the vehicle body subsystem 101, primarily serving a limit protection function. Triggering a limit switch during movement immediately stops the movement, achieving limit protection and preventing damage to the cylinder or the system itself. The reciprocating movement of the automatic cleaning system is controlled by an intelligent terminal via the vehicle body subsystem 101.

[0050] The wiper assembly 107 mainly consists of an electric push rod 1071, a wiper blade 1072, a hinge 1073, a hollow tube 1074, and a rotating bracket 1075. The electric push rod 1071 is rotatably connected to the front end of the chassis steel frame via the rotating bracket 1075. The front end of the electric push rod 1071 is hinged to the hollow tube 1074 via the hinge 1073, and the hollow tube 1074 is connected to the wiper blade 1072. The wiper assembly 107 is mainly used to clean sewage from the bottom of the drum. When the vehicle body subsystem 101 is moving and it is necessary to clean the water accumulated at the bottom of the drum, the intelligent terminal inputs a command, and the control system controls the electric push rod 1071 to extend, lowering the wiper assembly 107. After completing the bottom cleaning work, the wiper assembly 107 is retracted.

[0051] The power supply subsystem 102 mainly consists of a lithium battery, a lithium battery box cover, and a fan 1021. The power supply subsystem 102 is mainly used to provide power to the automatic cleaning system, while the fan is mainly used to disperse water mist during the water spraying operation of the automatic cleaning system, ensuring the normal operation of the laser rangefinder and ensuring that the operator has a good field of vision.

[0052] The integrated control subsystem 103 mainly consists of a lower housing, an electrical control box, and a walking control system. The integrated control subsystem 103 is the core control center of the automatic cleaning system. After the intelligent terminal issues commands, these commands are processed by the integrated signal processing controller to control the movement of the motors, sensors, and electric push rods.

[0053] The vertical attitude adjustment subsystem 104 mainly consists of three sets of lifting platforms 1041, telescopic universal joints 1042, and handwheels 1043. The three sets of lifting platforms 1041 are installed above the power supply subsystem 102, and the lifting platforms 1041 are connected to the telescopic universal joints 1042 and the handwheels 1043. The vertical attitude adjustment subsystem 104 is mainly used to adjust the telescopic height of the lifting platforms 1041 to adjust the centering of the automatic cleaning system inside the cylinder, ensuring that the three sets of brush heads can maintain the same distance from the cylinder wall, thus ensuring smooth cleaning operations.

[0054] The integrated transmission subsystem 105 includes an upper housing component 1051, a round shaft component 1052, and a turntable component 1053. The upper housing component 1051 mainly consists of an upper housing, a motor, a synchronous pulley, and a synchronous belt. The main function of the upper housing component is to connect the upper and lower parts. The lower part of the upper housing connects to the vertical attitude adjustment subsystem 104, and the middle part connects to the round shaft component, bearing the load-bearing task of the automatic cleaning system head.

[0055] The circular shaft assembly mainly consists of conductive slip rings, water slip rings, bearings, and piping. The conductive slip rings are used to connect and supply power to the integrated execution subsystem. The water slip rings are used to supply water to the integrated execution subsystem. The bearings are used to connect and rotate the turntable assembly.

[0056] The turntable component 1053 mainly consists of a turntable 1054, a synchronous pulley 1055, an LED light 1056, a camera 1057, etc.; the turntable component 1053 is mainly used to connect the round shaft component 1052, carry the electric actuator component 1062, and provide a support point for the electric actuator component 1062.

[0057] The integrated execution subsystem 106 includes a cleaning component 1061, an electric actuator component 1062, and a cleaning control component 1063; The cleaning component 1061 mainly consists of a cylindrical brush, an external rotor waterproof motor, a nozzle, bearings, springs, a brush plate, a brush holder, and a limit switch. After the cleaning spray reaches the work area, the external rotor waterproof motor of the pneumatic cleaning component drives the cylindrical brush to rotate and scrub the inner wall of the cylinder. The limit switch on the cleaning component 1061 is used to limit the extension distance of the electric actuator component 1062, preventing the electric actuator component 1062 from extending too far and damaging the inner wall of the cylinder.

[0058] The electric actuator component 1062 mainly consists of a telescopic arm, an electric actuator, and high-pressure water pipes. When performing brushing or rinsing operations, a telescopic command is input to bring the cleaning component close to the inner wall of the cylinder for operation.

[0059] The cleaning control component 1063 is the core module of the integrated execution control subsystem, controlling the operation of the electric actuator and the waterproof motor.

[0060] Specifically, the manual cleaning system 2 includes a second transmission component 201, a second travel component 202, a second air tank component 203, a second water tank component 204, a second water pipeline component 205, a second air pipeline component 206, a second electrical control box component 207, a second electrical control component 208, and a second soundproof cover component 209. The second transmission component 201 mainly consists of a high-pressure water pump, an oil-free scroll compressor, and an electric motor. The second transmission component 201 is primarily used to provide high-pressure water at 0–25 MPa and compressed air at 0.8 MPa.

[0061] The second traveling component 202 mainly has casters for easy movement of the manual cleaning system. The casters are installed under the frame, and a protruding platform is set at the front of the frame. The platform can accommodate the operator, and a wastewater collection tank is set at the bottom of the platform. A grate is set on the platform. During operation, the platform is located below the cylinder opening to collect the flowing wastewater.

[0062] The second air tank component 203 mainly consists of an air compressor exhaust buffer tank, a solenoid valve, a pressure switch, a safety valve, a solenoid valve, and a solenoid drain valve. The second air tank component 203 is mainly used to buffer compressed air and provide an air source for pneumatic tools.

[0063] The second water tank component 204 mainly consists of a clean water tank, a wastewater tank, a cleaning agent tank, and a level sensor. The second water tank component 204 is mainly used to transport external water to the clean water tank, and the water in the tank is transported to the high-pressure water gun for cleaning operations via a high-pressure water pump.

[0064] The second water pipeline component 205 mainly consists of a gas-liquid dual-pipe hose reel, a gas-liquid foam gun, a high-pressure water hose reel, a high-pressure water gun, a self-priming pump, and an electric diaphragm pump.

[0065] The second water pipeline component 205 mainly uses an electric diaphragm pump to spray the cleaning agent in the cleaning agent tank to the work area through a gas-liquid dual-pipe hose reel and a gas-liquid foam gun. After standing still for a few minutes, the high-pressure water pump is started, and the high-pressure water pump sprays the clean water in the clean water tank to the work area through a high-pressure water hose reel and a high-pressure water gun to complete the cleaning task.

[0066] The second air pipeline component 206 mainly consists of an exhaust pipe, an air-liquid reel inlet pipe, an air compressor exhaust pipe, a pneumatic polisher, a spring mechanism, and a vacuum cleaner.

[0067] The second air line component 206 mainly provides compressed air for pneumatic tools, while the vacuum cleaner is mainly used to remove residue from corners after cleaning by pneumatic tools.

[0068] Compressed air is delivered through the exhaust pipe to the air inlet pipe of the gas-liquid reel to provide compressed air for the spraying of cleaning agent.

[0069] The second electrical control box component 207 is mainly used to encapsulate and integrate the various electronic components of the manual cleaning system. The second electrical control component 208 mainly consists of a control wiring harness assembly, a tablet computer, control buttons, etc. The second soundproof enclosure component 209 is mainly used for the integrated encapsulation of the various components of the manual cleaning system.

[0070] The working principle of an intelligent cleaning system for the inner wall of a cylinder is as follows: This system is a specialized piece of equipment for cleaning the inner walls of a large-diameter cylinder, and can also be applied to the cleaning and maintenance of other pipe interiors. The cleaning system uses mechanical roller brushes and liquid flushing to clean the pipe interior. It utilizes the cavitation (micro-nano bubbles) effect of a high-pressure washer to impact and peel away dirt from the surface of objects, achieving the cleaning purpose. During the cleaning operation, an intelligently controlled robot delivers the high-pressure water system, cleaning agent system, and brushing module into the cylinder for cleaning. The system is equipped with a control system and a detection system, and an auxiliary support system provides water, electricity, and hydraulic support. It features high cleaning efficiency and fast cleaning speed. It is particularly effective at cleaning blind holes and objects of various geometric shapes, achieving a cleaning effect that other cleaning methods cannot achieve.

[0071] This system adopts modular integration and multi-functional technology, which can not only safely and efficiently clean the inner wall surface of the cylinder, but also target and clean hard-to-wipe areas inside the cylinder based on pattern recognition technology. It adapts to the complex environment inside the cylinder and develops multiple cleaning modules based on modular technology to complete multi-functional cleaning tasks.

[0072] The system is mainly divided into an automatic cleaning system and a manual cleaning system.

[0073] The automatic cleaning system primarily consists of a customized in-cylinder robot. The motion system uses servo motors to drive the tracks; the transmission system employs independent servo motors and integrates water and electricity rotation transmission devices; the cleaning actuator uses a variable-diameter push rod design with three evenly distributed cleaning arms. Each arm is equipped with an integrated working head, which features high-pressure water spraying, low-pressure cleaning agent spraying, brushing, and obstacle avoidance functions. The control module utilizes a fully sealed, low-power, and low-heat-dissipation design, supporting both wired and wireless signal transmission modes. The core control module is integrated and independently packaged, completely replacing the functions of a PLC. By collecting robot posture data in real time and simultaneously adjusting the posture for centering, the system ensures the robot always operates around the centerline of the cylinder. The detection system performs automatic and manual checks on the cleaning effect during operation and controls the robot to perform fixed-point operations based on the detection results.

[0074] An auxiliary support system is provided for the automatic cleaning system, primarily to provide high-pressure water and cleaning agents, remotely control the system, charge the battery, and complete the recycling and purification of wastewater. It also provides a platform for the automatic cleaning system to dock with the cylinder, ensuring smooth robot entry and exit. The control module adopts a fully sealed, low-power, and low-heat-dissipation design, featuring both wired and wireless signal transmission modes. The core control module is integrated and independently packaged, capable of completely replacing the functions of a PLC. The manual cleaning system complements the automatic cleaning system, primarily performing targeted cleaning of irregularly shaped areas and areas with concentrated, stubborn residue after the automatic cleaning process. The main cleaning methods of the manual system include high-pressure water rinsing, detergent-assisted cleaning, and localized polishing with pneumatic tools. The control module employs a fully sealed, low-power, and low-heat-dissipation design, featuring both wired and wireless signal transmission modes. The core control module is integrated and independently packaged, completely replacing the functions of a PLC. It can operate synchronously with the automatic cleaning system, improving cleaning efficiency.

[0075] This invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of this invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this invention should be included within the protection scope of this invention.

[0076] To provide the public with a thorough understanding of the present invention, specific details have been described in detail in the above preferred embodiments. However, those skilled in the art can fully understand the invention even without these detailed descriptions. Several improvements and modifications can be made without departing from the principles of the invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An intelligent cleaning system for the inner wall of a cylinder, characterized in that, It includes an automatic cleaning system (1), a manual cleaning system (2), a support device (3), and an auxiliary support system (4); the cylinder is placed horizontally, and two support devices (3) support the bottom of the cylinder; the manual cleaning system (2) is located at one end of the cylinder, the auxiliary support system (4) is located at the other end of the cylinder, and the automatic cleaning system (1) is placed on the auxiliary support system (4); after adjusting the height of the auxiliary support system (4) to match the cylinder, the automatic cleaning system (1) enters the cylinder along the inner wall of the cylinder to clean the cylinder. The auxiliary support system (4) supports the automatic cleaning system (1) on the one hand, and provides support for the water, cleaning agent, and pipeline winding used for cleaning on the other hand; the manual cleaning system (1) is used to carry the water tank, cleaning agent, and manual cleaning tools. The cleaning personnel use the manual cleaning system (1) to clean the irregular structure of the cylinder locally.

2. The intelligent cleaning system for the inner wall of a cylinder according to claim 1, characterized in that, The auxiliary support system (4) includes a traveling and lifting component (401), a transmission component (402), an air tank component (403), a water tank component (404), and a water pipeline component (405). The traveling and lifting component (401) consists of a base (4011), a lift (4012), and casters (4013). Casters (4013) are provided at the four corners of the bottom of the base (4011), and lifts (4012) are provided at the four corners of the top of the base (4011). A bracket (4014) is connected to the rear side of the base (4011). The water pipeline component (405) is connected to the water tank component (404), and the water tank component (404) is set on the base (4011). The transmission component (402), the air tank component (403), and the water pipeline component (405) are set on the bracket (4014).

3. The intelligent cleaning system for the inner wall of a cylinder according to claim 2, characterized in that, The auxiliary support system (4) also includes a laser rangefinder component (406), an air pipeline component (407), an electrical control box component (408), an electrical control component (409), and a soundproof enclosure component (410); the laser rangefinder component (406) is mounted on the soundproof enclosure component (410); the air pipeline component (407) is composed of an oil-free air compressor, and the electrical control box component (408) and the electrical control component (409) are mounted on a bracket (4014).

4. The intelligent cleaning system for the inner wall of a cylinder according to claim 1, characterized in that, The automatic cleaning system (1) includes a vehicle body subsystem (101), a power supply subsystem (102), an integrated control subsystem (103), a vertical attitude adjustment subsystem (104), an integrated transmission subsystem (105), and an integrated execution subsystem (106); the power supply subsystem (102), the integrated control subsystem (103), the vertical attitude adjustment subsystem (104), the integrated transmission subsystem (105), and the integrated execution subsystem (106) are installed on the vehicle body subsystem (101).

5. The intelligent cleaning system for the inner wall of a cylinder according to claim 4, characterized in that, The vehicle body subsystem (101) includes rubber tracks, drive wheels, load-bearing wheels, tension wheels, planetary reducers, servo motors, wiper assembly (107), limit switches, and chassis steel frame; the wiper assembly (107) is installed at the front end of the chassis steel frame.

6. The intelligent cleaning system for the inner wall of a cylinder according to claim 5, characterized in that, The wiper assembly (107) includes an electric push rod (1071), a wiper rubber plate (1072), a hinge (1073), a hollow tube (1074), and a rotating bracket (1075). The front end of the chassis steel frame is rotatably connected to the electric push rod (1071) via the rotating bracket (1075). The front end of the electric push rod (1071) is hinged to the hollow tube (1074) via the hinge (1073). The hollow tube (1074) is connected to the wiper rubber plate (1072).

7. The intelligent cleaning system for the inner wall of a cylinder according to claim 4, characterized in that, The vertical attitude adjustment subsystem (104) includes three sets of lifting platforms (1041), telescopic universal joints (1042), and handwheels (1043). The three sets of lifting platforms (1041) are installed above the power supply subsystem (102), and the lifting platforms (1041) are connected to the telescopic universal joints (1042) and the handwheels (1043). The vertical attitude adjustment subsystem (104) is used to adjust the telescopic height of the lifting platforms (1041) to adjust the centering of the integrated execution subsystem (106) in the cylinder, so as to ensure that the three sets of brush heads of the integrated execution subsystem (106) can maintain the same distance from the cylinder wall.

8. The intelligent cleaning system for the inner wall of a cylinder according to claim 4, characterized in that, The integrated transmission subsystem (105) includes an upper housing component (1051), a round shaft component (1052), and a turntable component (1053). The upper housing component (1051) is connected to the vertical attitude adjustment subsystem (104) at the bottom and to the round shaft component (1052) in the middle. The round shaft component (1052) includes a conductive slip ring and a water slip ring, bearings, and pipelines. The conductive slip ring is used to provide power to the integrated execution subsystem (106). The water slip ring is used to provide water to the integrated execution subsystem (106). The turntable component (1053) includes a turntable (1054), a synchronous pulley (1055), an LED light (1056), a camera (1057), etc. The turntable component (1053) is connected to the round shaft component (1052), and the turntable component (1053) carries the electric push rod component (1062) of the integrated execution subsystem (106).

9. The intelligent cleaning system for the inner wall of a cylinder according to claim 8, characterized in that, The integrated execution subsystem (106) includes a cleaning component (1061), an electric actuator component (1062), and a cleaning control component (1063). The outer rotor waterproof motor of the cleaning component (1061) drives the cylindrical brush to rotate and scrub the inner wall of the cylinder. The electric actuator component (1062) is mainly composed of a telescopic arm, an electric actuator, and a high-pressure water pipeline, which allows the cleaning component (1061) to work close to the inner wall of the cylinder. The cleaning control component (1063) is the core module of the integrated execution control subsystem, which controls the operation of the electric actuator component (1062).

10. The intelligent cleaning system for the inner wall of a cylinder according to claim 1, characterized in that, The manual cleaning system (2) includes a second transmission component (201), a second air tank component (203), a second water tank component (204), a second water pipeline component (205), a second air pipeline component (206), a second electrical control box component (207), a second electrical control component (208), and a second soundproof cover component (209) installed on the second travel component (202).

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