A pipeline inner wall cleaning robot

Abstract

The application discloses a pipeline inner wall cleaning robot and relates to the technical field of welding slag removing equipment.The pipeline inner wall cleaning robot comprises a hanging shaft, a removing assembly and an adjusting piece which are installed on the hanging shaft.Based on automatic operation, the pipeline inner wall cleaning robot can continuously and stably remove welding slag on the inner wall of a large steel cylinder according to a preset program, and the operation personnel do not need to repeatedly enter the steel cylinder, so that the operation time is greatly shortened.The polishing protrusions and the scraper which can be replaced are arranged, compared with the traditional rolling brush removing mode, the polishing protrusions and the scraper can effectively process welding slag with different forms and thicknesses.The elastic connecting structure which is composed of a supporting arm, an extending arm and a spring provides elastic contact for the scraper, the polishing protrusions, the rolling brush and the inner wall of the steel cylinder, damage caused by rigid connection to the inner wall of the steel cylinder is avoided, the contact pressure can be adaptively adjusted, the grinding amount is prevented from being too large, and the removing effect is improved.

Description

Technical Field

[0001] This invention relates to the field of welding slag removal equipment technology, and more specifically to a pipe inner wall cleaning robot. Background Technology

[0002] In the chemical and petroleum industries, steel cylinders are core pressure-bearing and working components. The quality of their internal welding directly determines the safety and service life of the equipment. If the welding slag remaining in the welding process is not completely removed, it will lead to accelerated weld corrosion, reduced pressure-bearing capacity, and even major safety accidents such as steel cylinder bursting, as well as reduce the overall quality of the steel cylinder.

[0003] Currently, the removal of welding slag from the inner wall of steel cylinders is mainly done manually using handheld tools (such as pneumatic shovels and wire brushes). This method has the following technical drawbacks:

[0004] First, it requires repeated entry into the inner wall of the steel cylinder for cleaning, which can take several hours. Furthermore, it is impossible to dynamically adjust the amount of cleaning based on the thickness and distribution of the weld slag, which can easily lead to problems such as incomplete cleaning or over-cleaning that damages the material.

[0005] Secondly, the enclosed space inside the steel cylinder and limited visibility make it easy for manual operation to cause health risks such as dust inhalation and oxygen deficiency. Furthermore, the operation of hand tools poses safety hazards such as collisions and scratches, which does not meet the safety management requirements of modern industry for "unmanned and minimally manned" operations.

[0006] Finally, the quality of manual removal depends on the operator's experience, and key indicators such as the amount of residual weld slag and the surface roughness of the substrate fluctuate greatly, making it difficult to meet the strict requirements of industry standards such as GB / T19445, which stipulate that "the area of ​​residual weld slag is ≤0.5%" and "the surface roughness Ra is ≤6.3µm".

[0007] In summary, in order to solve the problem of the difficulty in efficiently and safely removing welding slag inside steel cylinders, it is of great practical significance to develop automated removal equipment that is efficient, safe, and dynamically adjustable in terms of removal parameters. Summary of the Invention

[0008] The purpose of this invention is to provide a pipe inner wall cleaning robot to solve the problem that the existing manual cleaning methods cannot simultaneously achieve efficiency, safety and consistent quality.

[0009] To achieve the above objectives, the present invention provides the following technical solution: a pipe inner wall cleaning robot, comprising a lifting shaft, a cleaning assembly and an adjusting component, wherein the outer wall of the lifting shaft is provided with a first flange, a second flange and a third flange;

[0010] The bottom of the lifting shaft is fixed to the housing via a third flange, and a first support plate is provided between the third flange and the housing;

[0011] The outer wall of the lifting shaft is provided with a second support plate, and a cylindrical fixing frame is provided between the second support plate and the first flange. The cleaning component is provided on the outside of the second support plate and is symmetrically arranged along the cylindrical fixing frame.

[0012] The first flange is disposed at the top of the lifting shaft, and a hollow rotating platform is disposed between the first flange and the second flange. A first motor that drives the lifting shaft is disposed on the hollow rotating platform.

[0013] Furthermore, the cleaning assembly includes a roller brush and an adjusting component, with two of each component, which are respectively located on both sides of the cylindrical fixing frame.

[0014] Further, any of the aforementioned adjusting elements includes,

[0015] The fourth motor is fixed to the second support plate, and its output end is equipped with a lead screw;

[0016] The lead screw has a slider on its outer wall, and the second support plate has a groove that matches the slider. The slider has a rectangular fixing frame, and the rectangular fixing frame has a support arm on the side away from the cylindrical fixing frame.

[0017] Furthermore, the slider is provided with a lead screw nut seat that is compatible with the lead screw.

[0018] Furthermore, one of the roller brush components includes a second motor and a second roller brush, the second motor being mounted on the support arm, and the second roller brush being mounted on the output end of the second motor via a torque converter.

[0019] Furthermore, another roller brush component includes a third motor and a first roller brush, the third motor being mounted on the support arm, and the first roller brush being mounted on the output end of the third motor via a torque converter.

[0020] Furthermore, it also includes a grinding protrusion and a scraper, which are disposed at the output end of the torque converter.

[0021] Furthermore, it also includes an extension arm, the support arm having a blind groove inside for the extension arm to slide, and a spring being provided between the support arm and the extension arm.

[0022] Furthermore, the cylindrical fixing frame is provided with a first bearing and a second bearing that rotate with the hanging shaft.

[0023] Furthermore, a power source is installed inside the enclosure, which is powered by a battery pack, and a control box is installed on the outer wall of the enclosure.

[0024] Compared with the prior art, the pipe inner wall cleaning robot provided by the present invention has the following beneficial effects:

[0025] Based on automated operation, it can continuously and stably remove welding slag from the inner wall of large steel cylinders according to a preset program, without requiring operators to repeatedly enter the steel cylinder, thus greatly shortening the operation time.

[0026] It also avoids health risks such as dust inhalation faced by workers entering the steel cylinder, and avoids safety hazards such as collisions and scratches that may occur when operating hand tools;

[0027] The system features replaceable grinding protrusions and scrapers, which, compared to traditional roller brush cleaning methods, can effectively treat welding slag of different shapes and thicknesses.

[0028] The elastic connection structure, consisting of a support arm, an extension arm, and a spring, provides elastic contact between the scraper, grinding protrusions, roller brush, and the inner wall of the steel cylinder. This avoids damage to the inner wall of the steel cylinder caused by rigid connections, and can adaptively adjust the contact pressure to prevent excessive grinding and improve the cleaning effect. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0030] Figure 1 This is a first structural view of the welding slag removal device provided in an embodiment of the present invention;

[0031] Figure 2 This is a second structural view of the welding slag removal device provided in an embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram of the structure of the cleaning component provided in an embodiment of the present invention;

[0033] Figure 4 A schematic diagram of the working platform provided in an embodiment of the present invention;

[0034] Figure 5 This is a schematic diagram of the hollow rotating platform provided in an embodiment of the present invention;

[0035] Figure 6 This is a schematic diagram of the lifting shaft structure provided in an embodiment of the present invention;

[0036] Figure 7 This is a schematic diagram of the structure of the grinding protrusion and scraper provided in an embodiment of the present invention;

[0037] Figure 8 This is a cross-sectional view of the extension arm structure provided in an embodiment of the present invention;

[0038] Figure 9 This is a top view of the extension arm structure provided in an embodiment of the present invention.

[0039] Explanation of reference numerals in the attached figures:

[0040] 1. Second motor; 2. Hollow rotating platform; 3. Hanging shaft; 4. Third motor; 5. First roller brush; 5-1. Grinding protrusion; 5-2. Scraper; 6. First U-shaped plate; 7. Power source; 8. Box body; 9. First support plate; 10. First motor; 11. Second U-shaped plate; 12. Second roller brush; 13. Control box; 14. Support arm; 14a. Rectangular groove; 14-1. Extension arm; 14-2. Spring; 15. Rectangular fixing frame; 16. Fourth motor; 17. Slider; 18. Torque converter; 19. Second flange; 20. Second support plate; 21. Cylindrical fixing frame; 22. First bearing; 23. Second bearing; 24. First flange; 25. Third flange. Detailed Implementation

[0041] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0042] Please see the appendix Figure 1-6 As an embodiment of the present invention, a slag removal device suitable for the inner wall of large (1100mm-1300mm) steel cylinders is provided, which includes a main body, and a cleaning component, a working platform and a lifting shaft are provided on the main body.

[0043] The lifting shaft 3 is located above the main body, and the working platform and the cleaning assembly are both located outside the lifting shaft 3 assembly;

[0044] Regarding the main body, which serves as a carrier and provides power to the cleaning assembly, it includes a housing 8, and also includes...

[0045] Power source 7 is located inside housing 8 and is powered by a battery pack;

[0046] When in use, the battery pack power supply makes it easy to move and is not limited by the location of the power source. Compared with external power sources, it eliminates the constraints of wiring, allowing the equipment to move more flexibly when working inside large steel cylinders, without being limited by the location of the power source, and ensuring the convenience of the equipment working in different locations.

[0047] Control box 13 is located on the outside of the enclosure 8;

[0048] The lifting shaft 3 assembly includes,

[0049] The first support plate 9 is set on the box body 8 and fixedly installed to the outer edge of the box body 8;

[0050] The lifting shaft 3 is fixed to the upper surface of the first support plate 9 via the third flange 25;

[0051] A second support plate 20 is also provided on the outer wall of the lifting shaft 3 and above the third flange 25;

[0052] A cylindrical fixing frame 21 is provided on the outside of the lifting shaft 3 and on the second support plate 20, and a first flange 24 is provided above the cylindrical fixing frame 21;

[0053] Specifically, the first bearing 22 and the second bearing 23 on the inner side of the cylindrical fixing bracket 21 are rotatably assembled with the hanging shaft 3;

[0054] More specifically, the first bearing 22 and the second bearing 23, which bear axial force, are used to fix the working platform and the hanging shaft 3 to prevent the hanging shaft 3 and the box 8 fixed at the lower end of the hanging shaft 3 from rotating synchronously when the working platform rotates.

[0055] A cleaning component is provided on the outer side of the cylindrical fixing frame 21 and on the second support plate 20;

[0056] A second flange 19 is provided at the upper end of the cleaning assembly and outside the lifting shaft 3;

[0057] A hollow rotating platform 2 is provided between the second flange 19 and the first flange 24. A first motor 10 is provided on the hollow rotating platform 2. The hollow rotating platform 2 is located on the lifting shaft 3 and is driven by the output of the first motor 10. The output speed of the first motor 10 is limited to 8-15 r / min.

[0058] Specifically, a speed reducer is installed inside the hollow rotating platform 2. The input end of the speed reducer is connected to the output end of the first motor 10, and the output end of the speed reducer is connected to the hanging shaft 3.

[0059] More specifically, the hollow rotating platform 2 is fixed to the lifting shaft 3 via the first flange 24;

[0060] Regarding the cleaning components, there are roller brushes and adjusting components. The adjusting components are used to adjust the distance between the roller brushes and the cylindrical fixing frame 21. The number of roller brushes and adjusting components is set to two, and they are symmetrically installed on the second support plate 20 along the cylindrical fixing frame 21.

[0061] Each of these adjustment components includes,

[0062] The fourth motor 16 is fixed on the second support plate 20, and its output end faces away from the cylindrical fixing frame 21;

[0063] A lead screw 26 is located at the output end of the fourth motor 16, and a slider 17 is provided on the outer wall of the lead screw 26.

[0064] A rectangular fixing frame 15 is provided on the slider 17, and a support arm 14 is provided on the side of the rectangular fixing frame 15 away from the cylindrical fixing frame 21.

[0065] Specifically, the slider 17 is provided with a lead screw nut seat that is compatible with the lead screw 26, and the second support plate 20 is provided with a slide rail that is compatible with the slider 17. The two slide rails are located on both sides of the cylindrical fixing frame 21, and are respectively fixed to the second support plate 20 through the first U-shaped plate 6 and the second U-shaped plate 11.

[0066] That is, when in use, the fourth motor 16 is fixed and drives the lead screw 26 to rotate. Based on the lead screw and nut transmission principle, the slider 17 is restricted to rotate by the slide rail, thereby realizing the reciprocating linear displacement of the slider 17 within the slide rail.

[0067] One of the roller brush components includes,

[0068] The second motor 1 is mounted on the support arm 14 included in any of the adjusting components;

[0069] The second roller brush 12 is mounted on the output end of the second motor 1 via a torque converter 18;

[0070] Another roller brush component includes,

[0071] The third motor 4 is mounted on the support arm 14 included in another adjusting component;

[0072] The first roller brush 5 is mounted on the output end of the third motor 4 via the torque converter 18;

[0073] Specifically, the torque converter 18 changes the direction of the motor output torque, converting the horizontal torque output by the motor into a vertical torque, thereby driving the corresponding roller brush to rotate.

[0074] Among them, the output speed of the second motor 1 and the third motor 4 is 800-1200 r / min;

[0075] That is, the first roller brush 5 and the second roller brush 12 are driven by the second motor 1 and the third motor 4 to clean the welding slag on the inner wall of the steel cylinder. The positions of the second motor 1 and the third motor 4 are adjusted by the adjusting components including the fourth motor 16, the lead screw 26 and the nut, thereby adjusting the distance between the roller brush and the inner wall of the steel cylinder, and thus adjusting the contact area between the roller brush and the inner wall of the steel cylinder to improve the cleaning efficiency.

[0076] In this embodiment, the control box 13 uses a PLC programmable logic controller as the control core. This control method is derived from existing technology and can accurately control several motors. It can also switch between multiple working modes according to a preset program. Depending on the condition of the inner wall of the steel cylinder and the distribution of welding slag, it can flexibly adjust parameters such as motor speed and running time to achieve automated and intelligent welding slag removal operation.

[0077] Please see the appendix Figure 1-9 As another embodiment of the present invention, a vibration damping component for the above-mentioned welding slag removal equipment is provided. Unlike the above embodiments, this embodiment further includes...

[0078] Grind protrusions 5-1 and scrapers 5-2 to replace the roller brush, and install them at the output end of torque converter 18;

[0079] as well as,

[0080] In this embodiment, the support arm 14 is configured as a hollow rectangular body;

[0081] The extension arm 14-1 is slidably disposed inside the support arm 14;

[0082] Spring 14-2 is disposed between support arm 14 and extension arm 14-1, and its axis is located on the sliding plane of extension arm 14-1 and support arm 14;

[0083] Regarding the selection of spring 14-2:

[0084] For welding slag that is loose in texture and thin in thickness, springs with a small elastic modulus and relatively low elastic force should be selected. When using them, the operator should select springs with an elastic modulus of 5-10 N / mm. This will allow the roller brush, scraper or grinding protrusion to gently contact the welding slag and avoid excessive cleaning that could damage the inner wall of the steel cylinder.

[0085] For stubborn weld slag that is tightly bonded to the inner wall of the steel cylinder after high-temperature welding and has high hardness, a spring with a large elastic coefficient and high elastic force should be selected. When using it, the operator can choose a spring with an elastic coefficient of 20-30N / mm, which can ensure that the grinding protrusion can forcefully cut into the joint between the weld slag and the inner wall of the steel cylinder, while also preventing irreversible damage to the inner wall of the steel cylinder from rigid contact through elastic buffering.

[0086] The support arm 14 is provided with several rectangular grooves 14a, and the extension arm 14-1 is provided with limiting protrusions that are adapted to the rectangular grooves 14a to prevent the extension arm 14-1 from detaching from the support arm 14.

[0087] When in use, for some stubborn and tightly adhered welding slag, the roller brush may not be able to remove it effectively. The grinding protrusion 5-1 can cut into the junction of the welding slag and the inner wall of the steel cylinder more forcefully, and peel the welding slag from the inner wall of the steel cylinder through the grinding action. It is suitable for welding slag that has formed a strong chemical bond with the inner wall of the steel cylinder after high-temperature welding. The motor is supported by the elastically connected support arm 14 and extension arm 14-1, which in turn supports the scraper 5-2, grinding protrusion 5-1 or roller brush. Based on the elastic connection design, rigid contact between the scraper 5-2, grinding protrusion 5-1 or roller brush and the inner wall of the steel cylinder is avoided, which prevents damage to the inner wall of the steel cylinder caused by rigid contact and avoids the problem of excessive grinding. The operator can adaptively adjust the parameters of spring 14-2 according to the process requirements, thereby ensuring efficient removal of welding slag while protecting the material and surface quality of the inner wall of the steel cylinder.

[0088] In actual use, the adjusting component adjusts the distance between the roller brush and the inner wall of the steel cylinder to the required position. The second motor 1 and the third motor 4 are started to drive the first roller brush 5 and the second roller brush 12 to rotate. The first motor 10 drives the hollow rotating platform 2 to rotate. The hollow rotating platform 2 drives the working platform and the cleaning component to rotate around the hanging shaft 3. Based on the setting of the first bearing 22 and the second bearing 23, the synchronous rotation of the box 8 is avoided, thereby realizing the operation.

[0089] Compared with the prior art, the present invention has the following technical features:

[0090] Based on automated operation, it can continuously and stably remove welding slag from the inner wall of large steel cylinders according to a preset program, without requiring operators to repeatedly enter the steel cylinder, thus greatly shortening the operation time.

[0091] It also avoids health risks such as dust inhalation faced by workers entering the steel cylinder, and avoids safety hazards such as collisions and scratches that may occur when operating hand tools;

[0092] The replaceable grinding protrusions 5-1 and scraper 5-2, compared to the traditional roller brush cleaning method, can effectively treat welding slag of different shapes and thicknesses.

[0093] The elastic connection structure composed of support arm 14, extension arm 14-1 and spring 14-2 provides elastic contact between scraper 5-2, grinding protrusion 5-1, roller brush and the inner wall of steel cylinder, avoiding damage to the inner wall of steel cylinder caused by rigid connection, and can adaptively adjust the contact pressure to prevent excessive grinding and improve the cleaning effect.

[0094] The embodiments disclosed in this invention, after removing the welding slag, show that the residual area of ​​the welding slag is ≤0.3% and the surface roughness Ra is ≤3.2µm, which meets the requirements of GB / T19445 standard.

[0095] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A pipe inner wall cleaning robot, characterized in that, Includes a lifting shaft (3), a cleaning assembly and an adjusting component, wherein the outer wall of the lifting shaft (3) is provided with a first flange (24), a second flange (19) and a third flange (25); The bottom of the lifting shaft (3) is fixed to the housing (8) by the third flange (25), and a first support plate (9) is provided between the third flange (25) and the housing (8). The outer wall of the lifting shaft (3) is provided with a second support plate (20), and a cylindrical fixing frame (21) is provided between the second support plate (20) and the first flange (24). The cleaning component is provided on the outside of the second support plate (20) and is symmetrically arranged along the cylindrical fixing frame (21). The first flange (24) is located at the top of the lifting shaft (3), and a hollow rotating platform (2) is provided between the first flange (24) and the second flange (19). A first motor (10) that drives the lifting shaft (3) is provided on the hollow rotating platform (2).

2. The pipe inner wall cleaning robot according to claim 1, characterized in that, The cleaning assembly includes a roller brush and an adjusting component. The number of the roller brush and the adjusting component are both set to two, and they are respectively arranged on both sides of the cylindrical fixing frame (21).

3. The pipe inner wall cleaning robot according to claim 2, characterized in that, Any of the aforementioned adjusting elements includes, The fourth motor (16) is fixed on the second support plate (20), and its output end is provided with a lead screw (26). The lead screw (26) is provided with a slider (17) on its outer wall. The second support plate (20) is provided with a sliding groove that is compatible with the slider (17). The slider (17) is provided with a rectangular fixing frame (15). The rectangular fixing frame (15) is provided with a support arm (14) on the side away from the cylindrical fixing frame (21).

4. A pipe inner wall cleaning robot according to claim 3, characterized in that, The slider (17) is provided with a lead screw seat that is compatible with the lead screw (26).

5. A pipe inner wall cleaning robot according to claim 3, characterized in that, One of the roller brush components includes a second motor (1) and a second roller brush (12). The second motor (1) is mounted on the support arm (14), and the second roller brush (12) is mounted on the output end of the second motor (1) through a torque converter (18).

6. A pipe inner wall cleaning robot according to claim 3, characterized in that, Another roller brush component includes a third motor (4) and a first roller brush (5), the third motor (4) being mounted on the support arm (14), and the first roller brush (5) being mounted on the output end of the third motor (4) via a torque converter (18).

7. A pipe inner wall cleaning robot according to claim 5, characterized in that, It also includes a grinding protrusion (5-1) and a scraper (5-2), which are alternatively disposed at the output of the torque converter (18).

8. A pipe inner wall cleaning robot according to claim 3, characterized in that, It also includes an extension arm (14-1), the support arm (14) has a blind groove inside for the extension arm (14-1) to slide, and a spring (14-2) is provided between the support arm (14) and the extension arm (14-1).

9. A pipe inner wall cleaning robot according to claim 1, characterized in that, The cylindrical fixing frame (21) is provided with a first bearing (22) and a second bearing (23) that rotate with the hanging shaft (3).

10. A pipe inner wall cleaning robot according to claim 1, characterized in that, The housing (8) is equipped with a power source (7), which is powered by a battery pack. The outer wall of the housing (8) is equipped with a control box (13).

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