Chemical pipeline cleaning device and control method thereof

Abstract

The invention relates to the technical field of pipeline cleaning, in particular to a chemical pipeline cleaning device and a control method thereof. The chemical pipeline cleaning device comprises four telescopic modules, a driving module, a spraying module and a cleaning module, and the four telescopic modules are evenly distributed in the circumferential direction of a driving shaft so as to adapt to circular and square pipelines. Each telescopic module comprises a plurality of telescopic rods which are parallel to one another and are distributed in the axis direction of the pipeline; a spring is arranged in each telescopic rod, the springs enable the telescopic rods to extend and enable the walking wheels to abut against the inner wall of the pipeline, and then the cleaning modules installed on the telescopic rods clean the inner wall of the pipeline. According to the chemical pipeline cleaning control method, on the basis of the chemical pipeline cleaning device, when the pipeline is cleaned, the preset value of the length data of each telescopic rod under different rotation angles of the driving shaft after the pipeline is cleaned is recorded firstly, and in the subsequent cleaning process, whether the pipeline is cleaned in place or not is judged according to the length data of the telescopic rods; and incomplete local cleaning of the pipeline is avoided.

Description

Technical Field

[0001] This invention relates to the field of pipeline cleaning technology, specifically to a chemical pipeline cleaning device and its control method. Background Technology

[0002] In numerous industrial sectors, including chemical, petroleum, natural gas, municipal water supply and drainage, and food and pharmaceutical industries, pipelines are critical infrastructure for transporting fluid media. During long-term operation, the inner walls of these pipelines are highly susceptible to the deposition and adhesion of various substances, such as chemical scale, biological slime, polymer residues, oil, limescale, and corrosion products. These deposits not only significantly reduce the effective flow area of ​​the pipeline and increase energy consumption, but can also become breeding grounds for microorganisms, leading to corrosion, contamination of the media, and even pipeline blockage or rupture, posing a serious threat to production safety, product quality, and environmental protection. Therefore, regular and effective cleaning and maintenance of pipeline systems is essential.

[0003] In existing technologies, pipeline robots are often used to enter pipelines to replace manual cleaning. However, they can only move forward according to a set path and speed. When it is difficult to remove dirt from certain parts of the pipeline wall, the cleaning of certain parts of the pipeline will be incomplete. Summary of the Invention

[0004] This invention provides a chemical pipeline cleaning device and its control method to solve the problem that existing chemical pipeline cleaning devices are prone to inadequate cleaning.

[0005] The present invention provides a chemical pipeline cleaning device and its control method, which adopts the following technical solution: A chemical pipeline cleaning device includes a telescopic module, a drive module, a spraying module, and a cleaning module. The drive module includes a drive shaft and a traveling wheel, with the drive shaft extending along the axial direction of the pipeline. There are four telescopic modules evenly distributed around the drive shaft. Each telescopic module includes multiple telescopic rods parallel to each other and distributed along the axial direction of the pipeline. Each telescopic rod has an inner end and an outer end, with the inner end connected to the drive shaft and the outer end connected to a traveling wheel. Each telescopic rod contains a spring that causes it to extend and the traveling wheel to contact the inner wall of the pipeline. There are multiple spraying modules, each installed on one telescopic module, used to spray cleaning liquid and water onto the inner wall of the pipeline. There are multiple cleaning modules, each installed on one telescopic module, used to clean deposits from the inner wall of the pipeline.

[0006] Optionally, the telescopic rod includes a sleeve and an inner rod. One end of the sleeve is fixed to the drive shaft, one end of the inner rod is connected to the walking wheel, and the other end of the sleeve and the other end of the inner rod are slidably sleeved together. The spring connects the sleeve and the inner rod.

[0007] Optionally, the spraying module includes a spray pipe and a connecting pipe. The spray pipe extends along the pipeline axis and is fixed to the inner rod of multiple telescopic rods of the same telescopic module. The spray pipe is provided with spray nozzles. The connecting pipe is used to deliver cleaning liquid and clean water into the spray pipe.

[0008] Optionally, the cleaning module includes a storage chamber and a cleaning column. The storage chamber is hollow inside and rotatably mounted on the inner rods of multiple telescopic rods of the same telescopic module. The cleaning column extends along the pipeline axis and is hollow inside, and is fixedly connected to the storage chamber. The storage chamber is used to collect the impurities cleaned by the cleaning column.

[0009] Optionally, the cleaning column periphery is provided with multiple grooves extending along the pipe axis, the grooves communicating with the interior of the storage chamber; a cleaning protrusion is defined between two adjacent grooves, the cleaning protrusion scrapes impurities from the inner wall of the pipe, and the impurities are stored in the storage chamber through the grooves.

[0010] Optionally, a torsion spring is provided between the storage compartment and the inner rod, which causes the cleaning column to remain in contact with the inner wall of the pipe.

[0011] A method for cleaning and controlling chemical pipelines, utilizing the aforementioned chemical pipeline cleaning device, includes the following steps: S10, causing the drive shaft to enter from one end of the pipe to the other end of the pipe; S20 controls the drive shaft to rotate, the traveling wheels to move along the inner wall of the pipe, and at the same time the spraying module sprays cleaning liquid and the cleaning module cleans the inner wall of the pipe; S30, after observing that the inner wall of the pipe is clean, manually switch the spray module to spray clean water, and record the preset value corresponding to the rotation angle of each telescopic rod and its own length during the rotation of the telescopic module. S40, move the drive shaft a preset distance along the pipeline axis, switch the spray module to spray cleaning liquid, until the telescopic module rotates until each telescopic rod reaches its corresponding preset value, switch the spray module to spray clean water; S50, repeat step S40 until the drive shaft moves to the other end of the pipe.

[0012] Furthermore, step S30 also includes: S31, with the vertical plane located below the drive shaft and passing through the drive shaft axis as the reference plane; S32, record the angle M of rotation of a point on the drive shaft relative to the reference plane; S33, record the length data N of each telescopic rod when a point on the drive shaft rotates to multiple angles M, and obtain multiple preset values ​​(M, N) for each telescopic rod.

[0013] Optionally, step S33 further includes: S331, Determine the first point on the sleeve of each telescopic rod; S332, determine the second point on the inner rod of each telescopic rod; S333, the distance between the first and second points on each telescopic pole is taken as the length data N of the telescopic pole.

[0014] Furthermore, the preset distance is no greater than the length of the cleaning column in the direction of the pipe axis.

[0015] The beneficial effects of the present invention are as follows: The chemical pipeline cleaning device of the present invention is provided with four telescopic modules, and each telescopic module is equipped with a cleaning device, which can adapt to round and square pipelines; and each telescopic rod is provided with a spring (not shown in the figure), which causes the telescopic rod to extend so that the traveling wheel keeps in contact with the inner wall of the pipeline, thereby cleaning the inner wall of the pipeline when the cleaning device rotates with the telescopic module.

[0016] The chemical pipeline cleaning control method of the present invention is based on the above-mentioned chemical pipeline cleaning device. When cleaning the pipeline, the preset value of the length data of each telescopic rod at different rotation angles of the drive shaft is first recorded. In the subsequent cleaning process, the length data of the telescopic rod is used to determine whether the pipeline is cleaned in place, so as to avoid the pipeline being partially uncleaned. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a chemical pipeline cleaning device according to the present invention; Figure 2 This is a schematic diagram of the cleaning module in a chemical pipeline cleaning device of the present invention; Figure 3 for Figure 2 Enlarged view of point A in the middle; Figure 4 This is a schematic diagram of the working state of a chemical pipeline cleaning device of the present invention inside a circular pipeline. Figure 5 This is a schematic diagram of the chemical pipeline cleaning device of the present invention in the state after cleaning is completed inside a circular pipeline. Figure 6 This is a schematic diagram of the working state of a chemical pipeline cleaning device of the present invention inside a square pipeline. Figure 7 This is a schematic diagram of another state in which a chemical pipeline cleaning device of the present invention operates inside a square pipeline. Figure 8This is a schematic diagram of the state of a chemical pipeline cleaning device of the present invention working inside a square pipeline to a corner. In the diagram: 110, telescopic rod; 111, sleeve; 112, inner rod; 200, drive module; 210, drive shaft; 220, walking wheel; 300, spraying module; 310, water spray pipe; 311, water spray nozzle; 320, connecting pipe; 400, cleaning module; 410, storage compartment; 420, cleaning column; 421, groove; 422, cleaning protrusion. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] An embodiment of the chemical pipeline cleaning device of the present invention, such as... Figures 1 to 8 As shown, it includes a telescopic module, a drive module 200, a spraying module 300, and a cleaning module 400. The drive module 200 includes a drive shaft 210 and a traveling wheel 220. The drive shaft 210 extends along the axial direction of the pipeline. The drive shaft 210 is rotatably mounted on a traveling trolley (not shown in the figure) that can travel along a chemical pipeline in the prior art. The movement of the traveling trolley drives the drive shaft 210 to move synchronously. A rotary motor (not shown in the figure) is installed on the traveling trolley to drive the drive shaft 210 to rotate.

[0021] There are four telescopic modules, evenly distributed around the drive shaft 210. Each telescopic module includes multiple telescopic rods 110 that are parallel to each other and distributed along the axis of the pipe. Each telescopic rod 110 has an inner end and an outer end, respectively. The inner end of the telescopic rod 110 is connected to the drive shaft 210, and the outer end of the telescopic rod 110 is connected to a traveling wheel 220. Specifically, the traveling wheel 220 is rotatably mounted on the outer end of the telescopic rod 110 about the extension direction of the telescopic rod 110, so that the traveling wheel 220 can roll when the telescopic rod 110 rotates around the drive shaft 210 or moves with the drive shaft 210. Each telescopic rod 110 is provided with a spring (not shown in the figure), which causes the telescopic rod 110 to extend, thereby keeping the traveling wheel 220 in contact with the inner wall of the pipe. Since there are four telescopic modules, it can adapt not only to the inner wall of circular pipes but also to the inner wall of square pipes. When cleaning the inner wall of a square pipe, the four telescopic modules act on the four side walls of the square pipe respectively, so that the drive shaft 210 is subjected to balanced forces and prevents it from shaking.

[0022] There are multiple spraying modules 300, each of which is installed on a telescopic module and is used to spray cleaning fluid and clean water onto the inner wall of the pipe.

[0023] There are multiple cleaning modules 400, each of which is installed on a telescopic module and is used to clean the deposits on the inner wall of the pipe.

[0024] In this embodiment, the telescopic rod 110 includes a sleeve 111 and an inner rod 112. One end of the sleeve 111 is fixed to the drive shaft 210, one end of the inner rod 112 is connected to the walking wheel 220, and the other end of the sleeve 111 and the other end of the inner rod 112 are slidably sleeved together. The spring connects the sleeve 111 and the inner rod 112.

[0025] In this embodiment, the spraying module 300 includes a spray pipe 310 and a connecting pipe 320. The spray pipe 310 extends along the pipe axis and is fixed to the inner rod 112 of multiple telescopic rods 110 of the same telescopic module. The spray pipe 310 is provided with a spray nozzle 311. The connecting pipe 320 is used to deliver cleaning liquid and clean water into the spray pipe 310. The other end of the connecting pipe 320 can be connected to two delivery pipes through a T-connector. The other ends of the two delivery pipes are respectively connected to the cleaning liquid and clean water. Each container storing the cleaning liquid and clean water is equipped with a water pump. By controlling one of the two water pumps to start, the cleaning liquid or clean water is sprayed out from the spray nozzle 311 of the spray pipe 310 through the delivery pipe and the connecting pipe 320.

[0026] In some other embodiments of the present invention, the cleaning module 400 includes a storage chamber 410 and a cleaning column 420. The storage chamber 410 is hollow inside and rotatably mounted on the inner rods 112 of a plurality of telescopic rods 110 in the same telescopic module. The cleaning column 420 extends along the pipe axis and is hollow inside, and is fixedly connected to the storage chamber 410. The storage chamber 410 is used to collect the impurities cleaned by the cleaning column 420. The peripheral wall of the cleaning column 420 is provided with a plurality of grooves 421 extending along the pipe axis, and the grooves 421 communicate with the interior of the storage chamber 410. A cleaning protrusion 422 is defined between two adjacent grooves 421. The side edges of the cleaning protrusion 422 scrape impurities from the inner wall of the pipe, and the impurities are stored in the storage chamber 410 through the grooves 421. The trolley can be equipped with a collection pipe (not shown in the figure) coaxially and fixedly connected to the drive shaft 210. The collection pipe is connected to the storage chambers 410 of multiple cleaning modules 400 through a hollow tube to collect impurities in the storage chambers 410. A suction device can be installed inside the collection pipe to continuously send the impurities out of the pipeline through a flexible hose rotatably connected to the collection pipe. In some embodiments, only impurities can be stored in the storage chambers 410, which is suitable for short-stroke cleaning or cleaning pipelines with few impurities.

[0027] A torsion spring (not shown in the figure) is provided between the storage chamber 410 and the inner rod 112. The torsion spring causes the cleaning column 420 to remain in contact with the inner wall of the pipe. Specifically, the torsion spring causes the storage chamber 410 to rotate towards the side closer to the traveling wheel 220 until it is coplanar with the telescopic rod 110. When the traveling wheel 220 at the outer end of the telescopic rod 110 moves along the inner wall of the pipe, the torsion spring allows the storage chamber 410 and the cleaning column 420 to rotate away from the traveling wheel 220 under the contact with the inner wall of the pipe, and the torsion of the torsion spring keeps the cleaning column 420 in contact with the inner wall of the pipe.

[0028] An embodiment of the chemical pipeline cleaning and control method of the present invention, utilizing the above-mentioned chemical pipeline cleaning device, includes the following steps: S10, causing the drive shaft 210 to enter from one end of the pipe to the other end of the pipe; S20, control the drive shaft 210 to rotate, the walking wheel 220 to move along the inner wall of the pipe, and at the same time the spraying module 300 sprays cleaning liquid and the cleaning module 400 cleans the inner wall of the pipe; S30, after observing that the inner wall of the pipe is clean, manually switch the spray module 300 to spray clean water, and record the preset value corresponding to the rotation angle of each telescopic rod 110 and its own length during the rotation of the telescopic module. S40, move the drive shaft 210 a preset distance along the pipeline axis, switch the spray module 300 to spray cleaning liquid, until the telescopic module rotates until each telescopic rod 110 reaches its corresponding preset value, switch the spray module 300 to spray clean water. S50, repeat step S40 until the drive shaft 210 moves to the other end of the pipe.

[0029] In steps S20 and S30, the rotation of the drive shaft 210 and the spraying action of the spraying module 300 are manually controlled. This allows for manual observation of the cleaning status of the pipe's inner wall when the chemical pipeline cleaning device enters the pipeline, either manually or through real-time video. After confirming cleanliness, preset values ​​are obtained for the rotation angle and length of each telescopic rod 110 during one revolution of the telescopic module. The dimensions of the cleaned pipe inner wall are determined by comparing the length of each telescopic rod 110 at different rotation angles. In subsequent cleaning processes, the length of subsequent telescopic rods 110 is compared to these values ​​to determine if the pipeline is properly cleaned, preventing insufficient cleaning of the pipe's inner wall. In step S40, the driving and rotation of the drive shaft 210, as well as the spraying of cleaning fluid and water by the spraying module 300, are all program-controlled, automatically starting after the previous action is completed or the previous condition is met.

[0030] In this embodiment, step S30 further includes: S31, with the vertical plane located below the drive shaft 210 and passing through the axis of the drive shaft 210 as the reference plane; S32, record the angle M of rotation of a point on the drive shaft 210 relative to the reference plane; S33, record the length data N of each telescopic rod 110 when a certain point on the drive shaft 210 rotates to multiple angles M, and obtain multiple preset values ​​(M, N) corresponding to each telescopic rod 110.

[0031] Specifically, the angle M of rotation of a point on the drive shaft 210 relative to the reference plane ranges from 0 to 360°. When a point on the drive shaft 210 rotates to be coplanar with the reference plane, the angle M returns to zero. Multiple angle values ​​M1, M2, ..., Mk are pre-determined within the range of 0 to 360°, and the length data N1, N2, ..., Nk of the telescopic rod 110 are acquired each time it rotates to that angle value. Ultimately, each telescopic rod 110 can obtain k preset values ​​(M, N). The more angle values ​​selected, the more accurate the data. To improve data accuracy, the drive shaft 210 can be rotated multiple times, allowing each telescopic rod 110 to obtain multiple length values ​​at one angle M on the drive shaft 210. The average of these multiple length values ​​is then calculated to obtain a more accurate length data N. Since the length data of the telescopic rod 110 is prone to error and considering that the inner wall of the pipe is not perfectly smooth, the length data N can be a range value, such as the average value ± the error value.

[0032] In the above embodiment, step S33 further includes: S331, determine the first point on the sleeve 111 of each telescopic rod 110; S332, determine a second point on the inner rod 112 of each telescopic rod 110; S333, the distance between the first and second points on each telescopic rod 110 is taken as the length data N of the telescopic rod 110.

[0033] Specifically, an infrared ranging sensor signal transmitter can be installed at the first point on the sleeve 111 of each telescopic rod 110, and an infrared ranging sensor receiver diode can be installed at the second point on the inner rod 112. The distance between the first point and the second point is obtained by using the infrared ranging sensor, and this distance is used as the length of the telescopic rod 110. When the sleeve 111 and the inner rod 112 move away from each other, the distance between the first point and the second point increases, and the actual length of the telescopic rod 110 is larger.

[0034] In this embodiment, the preset distance is no greater than the length of the cleaning column 420 along the pipe axis. This ensures that the cleaning range of the cleaning column 420 can cover the entire inner wall of the pipe when the drive shaft 210 moves along the pipe axis.

[0035] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A chemical pipeline cleaning device, characterized in that, The system includes a telescopic module, a drive module, a spraying module, and a cleaning module. The drive module comprises a drive shaft and wheels, with the drive shaft extending along the pipe's axis. There are four telescopic modules evenly distributed around the drive shaft. Each telescopic module includes multiple telescopic rods parallel to each other and distributed along the pipe's axis. Each telescopic rod has an inner end and an outer end; the inner end of the rod connects to the drive shaft, and the outer end connects to a wheel. Each telescopic rod contains a spring that extends the rod and brings the wheel into contact with the pipe's inner wall. Multiple spraying modules, each installed on one telescopic module, spray cleaning fluid and water onto the pipe's inner wall. Multiple cleaning modules, each installed on one telescopic module, clean any deposits from the pipe's inner wall.

2. The chemical pipeline cleaning device according to claim 1, characterized in that: The telescopic rod includes a sleeve and an inner rod. One end of the sleeve is fixed to the drive shaft, one end of the inner rod is connected to the walking wheel, and the other end of the sleeve and the other end of the inner rod are slidably connected. The spring connects the sleeve and the inner rod.

3. The chemical pipeline cleaning device according to claim 2, characterized in that: The spraying module includes a water spray pipe and a connecting pipe. The water spray pipe extends along the pipeline axis and is fixed to the inner rod of multiple telescopic rods of the same telescopic module. The water spray pipe is equipped with a spray nozzle. The connecting pipe is used to deliver cleaning liquid and clean water into the water spray pipe.

4. A chemical pipeline cleaning device according to claim 3, characterized in that: The cleaning module includes a storage chamber and a cleaning column. The storage chamber is hollow inside and rotatably mounted on the inner rods of multiple telescopic rods of the same telescopic module. The cleaning column extends along the pipeline axis and is hollow inside, and is fixedly connected to the storage chamber. The storage chamber is used to collect the impurities cleaned by the cleaning column.

5. A chemical pipeline cleaning device according to claim 4, characterized in that: The cleaning column has multiple grooves extending along the pipe axis on its periphery, and the grooves are connected to the interior of the storage chamber. A cleaning protrusion is defined between two adjacent grooves. The cleaning protrusion scrapes impurities from the inner wall of the pipe, and the impurities are stored in the storage chamber through the grooves.

6. A chemical pipeline cleaning device according to claim 5, characterized in that: A torsion spring is installed between the storage compartment and the inner rod, which keeps the cleaning column in contact with the inner wall of the pipe.

7. A method for cleaning and controlling chemical pipelines, utilizing a chemical pipeline cleaning device according to any one of claims 4 to 6, characterized in that, Includes the following steps: S10, causing the drive shaft to enter from one end of the pipe to the other end of the pipe; S20 controls the drive shaft to rotate, the traveling wheels to move along the inner wall of the pipe, and at the same time the spraying module sprays cleaning liquid and the cleaning module cleans the inner wall of the pipe; S30, after observing that the inner wall of the pipe is clean, manually switch the spray module to spray clean water, and record the preset value corresponding to the rotation angle of each telescopic rod and its own length during the rotation of the telescopic module. S40, move the drive shaft a preset distance along the pipeline axis, switch the spray module to spray cleaning liquid, until the telescopic module rotates until each telescopic rod reaches its corresponding preset value, switch the spray module to spray clean water; S50, repeat step S40 until the drive shaft moves to the other end of the pipe.

8. The method for cleaning and controlling chemical pipelines according to claim 7, characterized in that: Step S30 also includes: S31, with the vertical plane located below the drive shaft and passing through the drive shaft axis as the reference plane; S32, record the angle M of rotation of a point on the drive shaft relative to the reference plane; S33, record the length data N of each telescopic rod when a point on the drive shaft rotates to multiple angles M, and obtain multiple preset values ​​(M, N) for each telescopic rod.

9. A method for cleaning and controlling chemical pipelines according to claim 8, characterized in that, Step S33 also includes: S331, Determine the first point on the sleeve of each telescopic rod; S332, determine the second point on the inner rod of each telescopic rod; S333, the distance between the first and second points on each telescopic pole is taken as the length data N of the telescopic pole.

10. A method for cleaning and controlling chemical pipelines according to claim 7, characterized in that: The preset distance is no greater than the length of the cleaning column along the pipe axis.

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