An automatic cleaning device and method for synchronously cleaning inner and outer walls of steel pipes

Abstract

The application discloses an automatic cleaning device and method for synchronously cleaning inner and outer walls of steel pipes, and belongs to the field of steel pipe cleaning. The device comprises a wheel self-rotation module, an outer wall cleaning walking module, an up-down inner wall cleaning module, a steel pipe feeding module and a steel pipe discharging module. The wheel self-rotation module is used for placing steel pipes to be cleaned. The outer wall cleaning walking module is used for cleaning the outer wall of the steel pipe. The up-down inner wall cleaning module is used for driving a cleaning spray pipe to axially extend into the steel pipe to clean the inner wall of the steel pipe. The steel pipe discharging module is arranged at the side of the wheel self-rotation module and is used for discharging the steel pipe. The steel pipe feeding module is arranged at the other side of the wheel self-rotation module and is used for feeding the steel pipe. The steel pipe discharging module sends the cleaned steel pipe to a storage frame. After a next batch of steel pipes to be cleaned is fed by the steel pipe feeding module at the other side of the wheel self-rotation module, is aligned and positioned, the steel pipes are conveyed to a cleaning station of the wheel self-rotation module, and each mechanism is reset to the starting station and carries out a new round of cleaning operation.

Description

Technical Field

[0001] This invention relates to the field of steel pipe cleaning technology, specifically to an automated cleaning device and method that can simultaneously clean the inner and outer walls of steel pipes. Background Technology

[0002] After steel pipes are manufactured, their inner and outer walls are prone to adhering to impurities such as oxide scale, dust, oil, and metal shavings. To ensure the quality of subsequent polishing, coating, assembly, and use, the inner and outer walls need to be cleaned. Additionally, after annealing, stainless steel pipes require pickling and passivation to create a dense protective film on their surface. However, after pickling, the inner and outer walls of the stainless steel pipes will retain acid, oxide scale, and acid slag produced by the reaction of sulfuric acid, hydrofluoric acid, etc., necessitating further cleaning of the inner and outer walls.

[0003] Currently, traditional steel pipe cleaning equipment on the market generally suffers from many defects: most can only complete the cleaning of the outer or inner wall separately, and cannot achieve integrated and simultaneous cleaning of the inner and outer walls. Moreover, the processes are scattered, the equipment investment is large, and the production efficiency is low. At the same time, traditional cleaning equipment has poor pipe diameter adaptability. For steel pipes of different diameter specifications, corresponding cleaning tools need to be changed, which is cumbersome to debug and has poor versatility. In addition, conventional cleaning has a simple structure, the steel pipe is fixed and static for cleaning, there are cleaning dead corners on the pipe wall, the cleaning uniformity is poor, the amount of manual intervention is large, the degree of automation is low, and it cannot meet the needs of mass industrial production.

[0004] In view of the shortcomings of the existing technologies, there is an urgent need to design an automatic cleaning device that is compact, versatile, can realize the self-rotation of steel pipes, integrates the inner and outer walls for automatic cleaning, and is compatible with steel pipes of various specifications. Summary of the Invention

[0005] The purpose of this invention is to solve the problems of existing steel pipe cleaning equipment, such as inability to simultaneously clean the inner and outer walls, poor pipe diameter adaptability, low degree of automation, low cleaning efficiency, and the existence of cleaning dead zones. The invention provides an automated cleaning device and method that is compact, widely adaptable, and capable of simultaneously cleaning the inner and outer walls of steel pipes.

[0006] To achieve the above objectives, the present invention provides an automated cleaning device capable of simultaneously cleaning the inner and outer walls of steel pipes, comprising a rotating wheel module 1, an external washing and walking module 2, an upper and lower internal washing module 3, a steel pipe loading module 4, and a steel pipe unloading module 5; wherein, the rotating wheel module 1 is the main support structure of the device, used to place the steel pipe to be cleaned; the external washing and walking module 2 is mounted above the rotating wheel module 1 and is used to clean the outer wall of the steel pipe; the upper and lower internal washing module 3 is located on the side of the rotating wheel module 1 and is used to drive the cleaning nozzle to extend axially along the steel pipe. Inside the steel pipe, the inner wall of the steel pipe is cleaned; the steel pipe unloading module 5 is set on the side of the wheel rotation module 1 to complete the steel pipe unloading; the steel pipe loading module 4 is set on the other side of the wheel rotation module to complete the loading; the steel pipe unloading module 5 sends the cleaned steel pipe to the storage box; after the next batch of steel pipes to be cleaned is loaded and aligned by the steel pipe loading module 4 on the other side of the wheel rotation module 1, it is transported to the cleaning station of the wheel rotation module 1, and each mechanism is reset to the starting station and a new round of cleaning operation is carried out.

[0007] Furthermore, the wheel rotation module 1 includes a first drive motor 101, a first transmission chain 102, a supporting wheel 103, an outer wall spray bar 104, a nozzle baffle plate 105, and a sewage collection tank 106.

[0008] Furthermore, the first drive motor 101 is mounted on the steel pipe alignment auxiliary mechanism 412, and drives the support wheel 103 on the wheel seat to rotate synchronously through the first transmission chain 102, thereby causing the steel pipe to be cleaned placed on it to rotate at a constant speed along its own axis; the outer wall spray bar 104 is placed on the spray bar frame and arranged along the axial direction of the steel pipe, and the outer wall spray bar 104 can uniformly scour the circumference of the steel pipe during the rotation of the steel pipe; the nozzle baffle 105 is set on the outside of the nozzle to form a semi-enclosed protective structure; the sewage collection tank 106 is set below the nozzle, and the sewage generated during cleaning is collected and recycled by the sewage collection tank 106.

[0009] Furthermore, the external washing walking module 2 includes a beam frame 201, a second drive motor 202, a second transmission chain 203, a robotic arm screw lifting device 204, a first drag chain 205, and a first water inlet pipe 206; the beam frame 201 is mounted above the wheel rotation module 1, providing overall support for the module; the second drive motor 202 is mounted on the external washing drive motor seat on the side of the beam frame, and the second drive motor 202 drives the robotic arm screw lifting device 204 to move axially along the guide rail of the beam frame 201 through the second transmission chain 203, thereby realizing the robotic arm screw lifting device 204. The movement is synchronized with the length of the steel pipe; the robotic arm screw lifting device 204 is connected to the cleaning rack via a slider welding component and moves along the cleaning rack. The height of the outer wall cleaning spray bar 245 can be precisely adjusted according to the outer diameter of the steel pipe, so that the outer wall cleaning spray bar 245 and the cylindrical surface of the steel pipe maintain a constant cleaning distance; the first drag chain 205 has a built-in first water inlet pipe 206, and the head of the first drag chain 205 is connected to the robotic arm screw lifting device 204 via a drag chain fixing component. During the movement of the robotic arm screw lifting device 204, the first drag chain 205 drives the first water inlet pipe 206 to move synchronously.

[0010] Furthermore, the robotic arm screw lifting device 204 includes a fifth drive motor 241, a fifth transmission chain 242, a screw 243, a screw lifting frame 244, an outer wall cleaning spray bar 245, and a warning light 246. The fifth drive motor 241 is mounted on the top of the robotic arm screw lifting device 204 and drives the screw 243 to rotate via the fifth transmission chain 242. The screw lifting frame 244 is connected to the screw 243 via a slider, and the screw 243 cooperates with the screw lifting frame 244 to realize the vertical lifting movement of the screw lifting frame 244. The outer wall cleaning spray bar 245 is fixedly installed at the lower end of the screw lifting frame 244 and can rise and fall synchronously with the screw lifting frame 244. The warning light 246 is installed on the top of the robotic arm screw lifting device 204 and is used to display the equipment operating status and fault indication. During the cleaning operation, the robotic arm screw lifting device 204 can cooperate with the axial movement of the outer washing walking module to realize the dynamic adjustment of the spray bar height.

[0011] Furthermore, the upper and lower inner washing module 3 includes an inner wall washing machine base 301, a third drive motor 302, a fourth drive motor 303, a third transmission chain 304, a fourth transmission chain 305, a large pipe travel box 306, a small pipe travel box 307, a large cleaning pipe 308, a small cleaning pipe 309, a second drag chain 310, a third drag chain 311, a first hose 312, a second hose 313, a second water inlet pipe 314, and a third water inlet pipe 315.

[0012] Furthermore, the inner wall rinsing base 301 provides protection and support for the upper and lower inner washing modules 3. The third drive motor 302 and the fourth drive motor 303 are mounted on the inner washing drive motor base at the rear end of the inner wall rinsing base 301. The third drive motor 302 drives the large pipe traveling box 306 to travel along the hanger via the third transmission chain 304, and the fourth drive motor 303 drives the small pipe traveling box 307 to travel along the hanger via the fourth transmission chain 305. The large pipe traveling box 306 and the small pipe traveling box 307 are connected to the hanger via deep groove ball bearings. When the large pipe traveling box 306 travels, it drives the cleaning large pipe 308 into the steel pipe, and when the small pipe traveling box 307 travels, it drives the cleaning small pipe 309 into the steel pipe. The cleaning large pipe 308 and the cleaning small pipe 309 are arranged parallel to each other vertically and fixed on the corresponding cleaning traveling boxes. The appropriate spray pipe is selected according to the inner diameter specification of the steel pipe and extends into the inside of the steel pipe to complete the inner wall cleaning. The second drag chain 310 has a built-in first The hose 312 and the third drag chain 311 have a second hose 313 built into them. During the feeding process of the cleaning nozzle, the second drag chain 310 and the third drag chain 311 drive the first hose 312 and the second hose 313 to move respectively. The first hose 312 is connected to the cleaning large pipe 308 with a conical sealing structure at its head end, and the second hose 313 is connected to the cleaning small pipe 309 with a conical sealing structure at its head end. The end face self-tightening seal is achieved by the conical surface fitting. The second water inlet pipe 314 is connected to the end of the first hose 312 with a conical sealing structure, and the third water inlet pipe 315 is connected to the end of the second hose 313 with a conical sealing structure. The second water inlet pipe 314 and the third water inlet pipe 315 deliver the cleaning medium to the cleaning nozzle to achieve deep cleaning of the inner wall of the steel pipe. After cleaning, the third drive chain 304 and the fourth drive chain 305 drive the large pipe travel box 306 and the small pipe travel box 307 to move, thereby driving the cleaning large pipe 308 and the cleaning small pipe 309 to reset.

[0013] The present invention also provides a cleaning method for an automated cleaning device capable of simultaneously cleaning the inner and outer walls of steel pipes, comprising the following steps: S1. Automatic feeding and positioning: The steel pipes to be cleaned are stacked on the feeding rack 401 of the steel pipe feeding module 4. They are conveyed by rolling due to their own weight and the tilt angle of the rack. They are fed one by one by limit switches 402 and 404 and lifting mechanisms 403 and 405. After the steel pipes enter the steel pipe alignment auxiliary mechanism 412, the feeding moving alignment device 407, together with the alignment swing plate 408 and the alignment roller 411, completes the axial precise alignment. After the proximity switch 409 is triggered, the positioning is completed. Then the first cylinder 410 drives the piston assembly to drive the alignment swing plate 408 to retract, release the limit, and smoothly transport the steel pipes to the cleaning station of the roller self-rotation module 1. S2. Synchronous Cleaning of Inner and Outer Walls: After the steel pipe is placed on the support rollers 103, the first drive motor 101 drives the support rollers 103 to rotate via the first transmission chain 102, causing the steel pipe to rotate at a uniform speed. The outer washing walking module 2 adjusts the outer wall cleaning spray bar 245 to match the outer diameter of the steel pipe through the robotic arm screw lifting device 204, and moves along the axial direction of the beam frame 201, cooperating with the rotation of the steel pipe to complete the outer wall cleaning. The first drag chain 205 protects the first water inlet pipe 206 to ensure stable water supply. At the same time, the upper and lower inner washing modules 3 match the cleaning large pipe 308 or cleaning small pipe 309 according to the inner diameter of the steel pipe, and extend axially into the inside of the steel pipe to achieve synchronous cleaning of the inner and outer walls. The cleaning wastewater is uniformly collected and treated in the wastewater collection tank 106. S3. Cleaning mechanism reset: After the steel pipe is cleaned, the outer washing walking module 2 drives the outer wall cleaning spray bar 245 to rise and return to the initial standby position; the upper and lower inner washing module 3 drives the cleaning spray pipe to exit from the inside of the steel pipe and retract to the storage position of the inner wall flushing machine base 301; then the wheel rotation module 1 stops, the supporting wheel 103 stops rotating, and the individual reset of all cleaning mechanisms is completed, and the equipment ends the cleaning process; S4. Steel Pipe Transfer and Unloading Station: After the cleaning mechanism is fully reset, the equipment switches to the unloading mode, and the steel pipe unloading module 5 is started. The hydraulic cylinder 502 drives the unloading flap 501 to flip upward. After flipping, the unloading flap 501 is in an inclined state and its end is flush with the unloading rack 507, so that the cleaned steel pipe can be smoothly rolled down by its own weight and transferred to the unloading rack 507, leaving the cleaning station and completing the unloading and transfer process. S5. Automatic material discharge control: After the steel pipe rolls down to the unloading rack 507, it slides past the unloading sensor 506, triggering a positioning signal. The system confirms that the steel pipe unloading and transfer is complete. The hydraulic cylinder 502 drives the unloading flap 501 to reset, and the hydraulic cylinder protective cover 503 protects the hydraulic cylinder throughout the process. At the same time, the second cylinder 504 drives the baffle 505 to cooperate with the working condition of the storage frame. When the material is full, the baffle is raised to stop the material discharge. After the frame is cleared, the baffle is lowered to resume the material discharge, realizing the orderly and automatic material discharge of the steel pipe. S6. Complete machine reset cycle operation: After a single steel pipe is discharged, the steel pipe feeding module 4, the upper and lower inner washing module 3, the outer washing walking module 2, the wheel rotation module 1, and the steel pipe unloading module 5 are all reset to the initial reference state. The equipment enters the standby state and waits for the next steel pipe to be fed, realizing the automated continuous cleaning production of steel pipes.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention features a five-module structure, with each module working in concert to achieve simultaneous one-time cleaning of the inner and outer walls of steel pipes. This eliminates the need for traditional separate cleaning processes, significantly shortens the steel pipe cleaning cycle, and substantially improves batch production efficiency.

[0015] 2. The inner wall adopts a double-spray pipe structure, which can flexibly adapt to steel pipes of different diameters, solving the defect of traditional equipment with only one pipe diameter. The equipment is more versatile and applicable to a wider range of scenarios.

[0016] 3. The outer wall combines a fixed spray bar with a top-mounted traveling spray bar for dual cleaning, and with the rotation of the steel pipe, it completely eliminates dead corners in the cleaning of the outer wall of the steel pipe, resulting in higher cleaning uniformity and cleanliness. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the feeding module structure of the present invention; Figure 3 This is a schematic diagram of the feeding, alignment, and positioning device of the present invention. Figure 4 This is a schematic diagram of the self-rotating module structure of the present invention; Figure 5 This is a schematic diagram of the assembly structure of the external washing and walking module of the present invention; Figure 6 This is a schematic diagram of the upper and lower inner washing module structure of the present invention; Figure 7 This is a schematic diagram of the robotic arm lead screw lifting device of the present invention; Figure 8 This is a cross-sectional view of the robotic arm screw lifting device structure along direction AA of the present invention; Figure 9 This is a schematic diagram of the material feeding module structure of the present invention; Reference numerals: 1. Rotating wheel module 1, 101. First drive motor 101, 102. First transmission chain 102, supporting wheel 103, outer wall spray bar 104, nozzle baffle 105 and sewage collection tank 106; External washing walking module 2, beam frame 201, second drive motor 202, second transmission chain 203, robotic arm screw lifting device 204, first drag chain 205 and first water inlet pipe 206; The system includes: an upper and lower internal washing module 3, an inner wall rinsing base 301, a third drive motor 302, a fourth drive motor 303, a third transmission chain 304, a fourth transmission chain 305, a large pipe travel box 306, a small pipe travel box 307, a large cleaning pipe 308, a small cleaning pipe 309, a second cable chain 310, a third cable chain 311, a first hose 312, a second hose 313, a second water inlet pipe 314, and a third water inlet pipe 315. The fifth drive motor 241, the fifth transmission chain 242, the lead screw 243, the lead screw lifting frame 244, the outer wall cleaning spray bar 245, and the warning light 246; The steel pipe feeding module 4, feeding rack 401, first limit switch 402, first lifting mechanism 403, second limit switch 404, second lifting mechanism 405, sixth drive motor 406, feeding moving alignment device 407, alignment swing plate 408, proximity switch 409, first cylinder 410, alignment roller 411 and steel pipe alignment auxiliary mechanism 412; The steel pipe unloading module 5, unloading flap 501, hydraulic cylinder 502, hydraulic cylinder protective cover 503, second cylinder 504, baffle 505, unloading sensing device 506, and unloading rack 507 are all included. Detailed Implementation

[0018] 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.

[0019] It should be noted that, unless otherwise specified, the features in the following embodiments and implementation methods can be combined with each other.

[0020] To further illustrate the technical means and effects adopted by the present invention to achieve the intended purpose, the following detailed description is provided in conjunction with the accompanying drawings and specific embodiments.

[0021] In a first aspect, the present invention provides an automated cleaning device capable of simultaneously cleaning the inner and outer walls of steel pipes, such as... Figure 1 As shown, it includes an inner washing module 3 (upper and lower), an outer washing and walking module 2, a wheel rotation module 1, a steel pipe feeding module 4, and a steel pipe unloading module 5 arranged in sequence.

[0022] The steel pipe feeding module 4 is used to transport the steel pipes to be cleaned one by one to the cleaning station of the roller rotation module 1. The roller rotation module 1 is the main body of the equipment and is used to place the steel pipes to be cleaned. The roller rotation module 1 is equipped with rotating rollers inside, and the steel pipes to be cleaned are supported and placed above the rotating rollers. The roller rotation module 1 drives the steel pipe to rotate continuously through the rotating rollers, providing a motion basis for all-round cleaning of the inner and outer walls. The outer washing walking module 2 is mounted above the roller rotation module 1 and cleans the outer wall of the steel pipe. The upper and lower inner washing modules 3 are set on the sides of the roller rotation module 1, and drive the cleaning nozzle to extend into the steel pipe along the axial direction through the chain feeding mechanism to complete the automated feeding and cleaning operation of the inner wall of the steel pipe. The lower inner washing module 3 cleans the inner wall of the steel pipe; the upper and lower inner washing modules 1, the outer washing walking module 2, and the upper and lower inner washing modules 3 work together to clean the steel pipe, achieving synchronous and thorough cleaning of the inner and outer walls of the steel pipe; after cleaning, the chain drive mechanism of the upper and lower inner washing modules 3 retracts the nozzle assembly to the storage position, the outer washing walking module 2 resets to the initial position, and then the steel pipe unloading module 5 completes the steel pipe unloading, which sends the cleaned steel pipe to the storage box; after the next batch of steel pipes to be cleaned is loaded and aligned by the steel pipe loading module 4, it is transported to the cleaning position of the upper and lower inner washing modules 1, and each mechanism resets to the starting position and starts a new round of cleaning operations, thereby realizing continuous cycle automated production of the equipment.

[0023] like Figure 2 , Figure 3As shown, the steel pipe feeding module 4 includes a feeding rack 401, a first limit switch 402, a first lifting mechanism 403, a second limit switch 404, a second lifting mechanism 405, a sixth drive motor 406, a feeding moving alignment device 407, an alignment swing plate 408, a proximity switch 409, a first cylinder 410, an alignment roller 411, and a steel pipe alignment auxiliary mechanism 412. The steel pipes to be cleaned are pre-stacked and placed at the rear end of the loading rack 401, which is set at a certain inclination angle. The steel pipes roll forward by their own weight. The lifting mechanisms 403 and 405 are located below the loading rack 401. When the steel pipe touches the first limit switch 402, the first lifting mechanism 403 is activated, smoothly lifting the steel pipe and sending it to the front end of the loading rack 401. The steel pipe continues to roll along the loading rack 401. When it touches the second limit switch 404, the second lifting mechanism 405 is activated, sending the steel pipe into the steel pipe alignment auxiliary mechanism 412. The alignment swing plate 408 is connected to the steel pipe alignment auxiliary mechanism 412 via a shaft. After the steel pipe enters the steel pipe alignment auxiliary mechanism 412, it is blocked and positioned by the alignment swing plate 408. The sixth drive motor 406 and the loading moving alignment device 407 are placed on the loading alignment racks on both sides of the steel pipe alignment auxiliary mechanism 412. The 406 drives the feeding and alignment device 407 to move axially along the feeding and alignment frame; the alignment roller 411 is connected to the alignment swing plate through the alignment roller seat to reduce the friction of the steel pipe movement, and cooperates with the feeding and alignment device 407 to assist the steel pipe in axial movement and position alignment; the proximity switch 409 is welded to the side of the feeding and alignment frame through the alignment switch frame. When the feeding and alignment device 407 moves to the preset position and triggers the proximity switch 409, the device stops moving and completes the precise positioning of the steel pipe; the first cylinder 410 is set at the rear end of the steel pipe alignment auxiliary mechanism 412, and the Y-shaped joint at the front end of its piston assembly is connected to the alignment swing plate 408 through a pin. The first cylinder 410 drives the piston assembly to move, pull the alignment swing plate 408 back, release the obstruction to the steel pipe, and make the steel pipe smoothly transported to the cleaning station of the self-rotating module 1, realizing the automatic feeding and precise alignment of the steel pipe.

[0024] like Figure 4As shown, the self-rotating module 1 of the paired wheels includes a first drive motor 101, a first transmission chain 102, a supporting paired wheels 103, an outer wall spray bar 104, a nozzle baffle plate 105, and a sewage collection tank 106. The first drive motor 101 is mounted on the steel pipe alignment auxiliary mechanism 412 and drives the support wheel 103 on the wheel seat to rotate synchronously through the first transmission chain 102, causing the steel pipe to be cleaned placed on it to rotate at a constant speed along its own axis, providing a motion basis for subsequent cleaning of the outer wall; the outer wall spray bar 104 is placed on the spray bar frame and arranged along the axial direction of the steel pipe. During the rotation of the steel pipe, the outer wall spray bar 104 can uniformly scour the circumference of the steel pipe, effectively removing oxide scale, oil stains and impurities on the surface of the steel pipe, while providing a basic guarantee for the deep cleaning of the subsequent external washing walking module; the nozzle baffle 105 is set on the outside of the nozzle to form a semi-enclosed protective structure to prevent sewage from overflowing and to block the splashing of cleaning media; the sewage generated during cleaning is collected and recycled by the sewage collection tank 106 below, realizing centralized treatment and recycling of sewage.

[0025] like Figure 5 As shown, the external washing walking module 2 includes a beam frame 201, a second drive motor 202, a second transmission chain 203, a robotic arm screw lifting device 204, a first drag chain 205, and a first water inlet pipe 206. The beam frame 201 is mounted above the wheel rotation module 1, providing overall support for the module. The second drive motor 202 is mounted on the external washing drive motor seat on the side of the beam frame. The second drive motor 202 drives the robotic arm screw lifting device 204 to move axially along the guide rail of the beam frame 201 through the second transmission chain 203, realizing synchronous movement of the cleaning mechanism and the steel pipe along its length. The robotic arm screw lifting device 204 is connected to the cleaning hanger through a slider welded part and moves along the cleaning hanger. Its height can be precisely adjusted according to the outer diameter of the steel pipe, ensuring that the outer wall cleaning spray bar 245 is in close contact with the cylindrical surface of the steel pipe. Maintain a constant cleaning distance; the first drag chain 205 has a built-in first water inlet pipe 206, and the head of the first drag chain 205 is connected to the robotic arm screw lifting device 204 through a drag chain fixing component. During the movement of the robotic arm screw lifting device 204, the first drag chain 205 drives the first water inlet pipe 206 to move synchronously, avoiding dragging, entanglement or wear of the pipeline; the first water inlet pipe 206 delivers cleaning medium to the cleaning spray bar 245 on the outer wall of the robotic arm screw lifting device 204. During the process of the device moving axially with the steel pipe, it cooperates with the rotation of the steel pipe itself to clean the outer wall of the steel pipe in all directions.

[0026] like Figure 6As shown, the upper and lower inner washing module 3 includes an inner wall washing base 301, a third drive motor 302, a fourth drive motor 303, a third transmission chain 304, a fourth transmission chain 305, a large pipe travel box 306, a small pipe travel box 307, a large cleaning pipe 308, a small cleaning pipe 309, a second drag chain 310, a third drag chain 311, a first hose 312, a second hose 313, a second water inlet pipe 314, and a third water inlet pipe 315. The inner wall washing base 301 provides protection and support for the module. The third drive motor 302 and the fourth drive motor 303 are mounted on the inner washing drive motor base at the rear end of the inner wall washing base 301. The third drive motor 302 drives the large pipe travel box 306 to travel along the hanger via the third transmission chain 304, and the fourth drive motor 303 drives the small pipe travel box 307 to travel along the hanger via the fourth transmission chain 305. The large pipe travel box 306 and the small pipe travel box 307 are connected by a deep... The ball bearing is connected to the hanger. When the large pipe travel box 306 moves, it drives the large cleaning pipe 308 into the steel pipe, and when the small pipe travel box 307 moves, it drives the small cleaning pipe 309 into the steel pipe. The large cleaning pipe 308 and the small cleaning pipe 309 are arranged parallel to each other vertically and welded to the corresponding cleaning travel box. According to the inner diameter of the steel pipe, a suitable spray pipe can be selected to extend into the inside of the steel pipe to complete the inner wall cleaning. The second drag chain 310 has a built-in first rubber hose 312, and the third drag chain 311 has a built-in second rubber hose 312. 3. During the feeding process of the cleaning nozzle, the second cable chain 310 and the third cable chain 311 respectively drive the first hose 312 and the second hose 313 to move, avoiding dragging, tangling, or wear of the hoses; the first end of the first hose 312 is connected to the large cleaning hose 308 with a conical sealing structure, and the first end of the second hose 313 is connected to the small cleaning hose 309 with a conical sealing structure. The conical surface fit achieves a self-tightening seal at the end face, preventing leakage of the cleaning medium while ensuring easy disassembly and assembly; the second water inlet... Pipe 314 is connected to the end of the first hose 312 with a conical sealing structure, and the third water inlet pipe 315 is connected to the end of the second hose 313 with a conical sealing structure. The second water inlet pipe 314 and the third water inlet pipe 315 deliver cleaning medium to the cleaning spray pipe to achieve deep cleaning of the inner wall of the steel pipe. After cleaning, the third drive chain 304 and the fourth drive chain 305 drive the large pipe travel box 306 and the small pipe travel box 307 to move, thereby driving the cleaning large pipe 308 and the cleaning small pipe 309 to reset.

[0027] like Figure 7 and Figure 8As shown, the robotic arm screw lifting device 204 includes a fifth drive motor 241, a fifth transmission chain 242, a screw 243, a screw lifting frame 244, an outer wall cleaning spray bar 245, and a warning light 246. The fifth drive motor 241 is mounted on the top of the device and drives the screw 243 to rotate via the fifth transmission chain 242. The screw lifting frame 244 is connected to the screw 243 via a slider, and the screw 243 cooperates with the screw lifting frame 244 to achieve vertical lifting movement of the screw lifting frame 244. The outer wall cleaning spray bar 245 is fixedly installed at the lower end of the screw lifting frame 244 and can rise and fall synchronously with the screw lifting frame 244. The distance between the spray bar and the cylindrical surface of the steel pipe is precisely adjusted according to the outer diameter of the steel pipe to maintain a constant spraying distance and pressure. The warning light 246 is installed on the top of the device to display the equipment's operating status and fault indications. During the cleaning operation, the device can work in conjunction with the axial movement of the external washing walking module to dynamically adjust the height of the spray bar, ensuring that the outer walls of steel pipes of different diameters can obtain a uniform and efficient spray cleaning effect.

[0028] like Figure 9 As shown, the steel pipe unloading module 5 includes an unloading flap 501, a hydraulic cylinder 502, a hydraulic cylinder protective cover 503, a second cylinder 504, a baffle 505, an unloading sensing device 506, and an unloading rack 507. The hydraulic cylinder 502 is mounted on the bottom of the unloading rack 507 via a cylinder support. After cleaning, the system controls the hydraulic cylinder 502 to start, driving the unloading flap 501 to flip upwards and lift the steel pipe away from the cleaning station. The unloading flap 501 is connected to the unloading rack 507 via an unloading flip shaft. After flipping, it is at a certain angle, and the steel pipe rolls forward by its own weight. The end of the unloading flap 501 is flush with the unloading rack 507, allowing the steel pipe to roll smoothly onto the unloading rack 507. The unloading sensor 506 is installed on the front side of the unloading rack 507. After the steel pipe leaves the flap, it moves on the unloading rack 507 and passes the unloading sensor 506, triggering a positioning signal. After receiving the signal, the system confirms that the steel pipe has completed the unloading process and then controls the unloading flap 501 to reset, and the equipment enters the waiting state. This prepares the system for the next cleaning cycle. The hydraulic cylinder protective cover 503 is located outside the hydraulic cylinder 502 to protect the cylinder body and prevent corrosion from cleaning wastewater and impurities. The second cylinder 504 is located on the side of the end of the unloading frame 507. The top Y-shaped connector is connected to the baffle 505 by a pin. The second cylinder 504 drives the baffle 505 to move, thus protecting the storage frame. When the storage frame is full and needs to be cleaned, the second cylinder 504 drives the baffle 505 to rise, preventing the steel pipe from continuing to enter the storage frame and avoiding the accumulation and rolling of the steel pipe. After the storage frame is emptied and reset, the baffle 505 falls down, restoring the normal unloading channel for the steel pipe. All mechanisms are reset to their initial state, waiting for the unloading of the next steel pipe, thus realizing automatic unloading and orderly conveying of the steel pipe after cleaning.

[0029] Secondly, the present invention also provides a cleaning method for an automated cleaning device capable of simultaneously cleaning the inner and outer walls of steel pipes, comprising the following steps: Step 1: Automatic feeding and positioning The steel pipes to be cleaned are stacked on the feeding rack 401 of the steel pipe feeding module 4. They are conveyed by their own weight due to the tilt angle of the rack, and fed one by one by limit switches 402 and 404 and lifting mechanisms 403 and 405. After the steel pipes enter the steel pipe alignment auxiliary mechanism 412, the feeding moving alignment device 407, together with the alignment swing plate 408 and alignment roller 411, completes the axial precise alignment. After triggering the proximity switch 409, the positioning is completed. Then, the first cylinder 410 drives the piston assembly to drive the alignment swing plate 408 to retract, release the limit, and smoothly convey the steel pipes to the cleaning station of the roller rotation module 1. Step 2: Simultaneous cleaning of both inner and outer walls After the steel pipe rests on the support rollers 103, the first drive motor 101 drives the support rollers 103 to rotate via the first transmission chain 102, causing the steel pipe to rotate at a constant speed. The external washing and walking module 2 adjusts the external wall cleaning spray bar 245 to match the outer diameter of the steel pipe via the robotic arm screw lifting device 204, and moves along the beam frame 201, cooperating with the rotation of the steel pipe to complete the external wall cleaning. The first drag chain 205 protects the first water inlet pipe 206 to ensure a stable water supply. At the same time, the upper and lower internal washing modules 3 match the cleaning large pipe 308 or cleaning small pipe 309 according to the inner diameter of the steel pipe, and extend axially into the inside of the steel pipe to achieve synchronous cleaning of the inner and outer walls. The cleaning wastewater is uniformly collected and treated in the wastewater collection tank 106. Step 3: Reset the cleaning mechanism After the steel pipe is cleaned, the external washing walking module 2 drives the external wall cleaning spray bar 245 to rise and return to the initial standby position. The upper and lower internal washing modules 3 drive the cleaning spray pipe to retract from the inside of the steel pipe and return to the storage position of the internal wall rinsing base 301; then the wheel rotation module 1 stops, the supporting wheel 103 stops rotating, and the individual reset of all cleaning mechanisms is completed, and the equipment ends the cleaning process; Step 4: Steel pipe transfer and unloading station After the cleaning mechanism is fully reset, the equipment switches to the unloading mode, and the steel pipe unloading module 5 is started. The hydraulic cylinder 502 drives the unloading flap 501 to flip upward. After flipping, the unloading flap 501 is in an inclined state and its end is flush with the unloading rack 507, so that the cleaned steel pipe rolls down smoothly by its own weight and is transferred to the unloading rack 507, leaving the cleaning station and completing the unloading and transfer process. Step 5: Automatic Material Discharge Control After the steel pipe rolls onto the unloading rack 507, it slides past the unloading sensor 506, triggering a positioning signal. The system confirms that the unloading and transfer of the steel pipe is complete. The hydraulic cylinder 502 drives the unloading flap 501 to reset, and the hydraulic cylinder protective cover 503 protects the hydraulic cylinder throughout the process. At the same time, the second cylinder 504 drives the baffle 505 to coordinate with the working condition of the storage frame. When the frame is full, the baffle is raised to stop the discharge. After the frame is cleared, the baffle is lowered to resume the discharge, realizing the orderly and automatic discharge of the steel pipe. Step Six: Complete Machine Reset Cycle After a single steel pipe is discharged, the steel pipe feeding module 4, the upper and lower inner washing module 3, the outer washing walking module 2, the wheel rotation module 1, and the steel pipe unloading module 5 are all reset to their initial reference states. The equipment enters standby mode, waiting for the next steel pipe to be fed. This cycle repeats to achieve automated continuous cleaning production of steel pipes.

[0030] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only.

[0031] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. An automated cleaning device capable of simultaneously cleaning the inner and outer walls of steel pipes, characterized in that, The system includes a rotating wheel module (1), an external washing and walking module (2), an upper and lower internal washing module (3), a steel pipe loading module (4), and a steel pipe unloading module (5). The rotating wheel module (1) is the main support structure for placing the steel pipe to be cleaned. The external washing and walking module (2) is mounted above the rotating wheel module (1) and is used to clean the outer wall of the steel pipe. The upper and lower internal washing module (3) is located on the side of the rotating wheel module (1) and is used to drive the cleaning nozzle to extend axially into the steel pipe to clean its inner wall. The steel pipe unloading module (5) is located on the side of the wheel rotation module (1) and is used to unload the steel pipe. The steel pipe loading module (4) is located on the other side of the wheel rotation module and is used to load the steel pipe. The steel pipe unloading module (5) sends the cleaned steel pipe to the storage box. After the next batch of steel pipes to be cleaned is loaded and aligned by the steel pipe loading module (4) on the other side of the wheel rotation module (1), it is transported to the cleaning station of the wheel rotation module (1). Each mechanism is reset to the starting station and a new round of cleaning operation is carried out.

2. The apparatus according to claim 1, characterized in that, The self-rotating module (1) of the wheel includes a first drive motor (101), a first transmission chain (102), a supporting wheel (103), an outer wall spray bar (104), a nozzle baffle plate (105), and a sewage collection tank (106).

3. The apparatus according to claim 2, characterized in that, The first drive motor (101) is mounted on the steel pipe alignment auxiliary mechanism (412), and drives the support wheel (103) on the wheel seat to rotate synchronously through the first transmission chain (102), which drives the steel pipe to be cleaned placed on it to rotate at a constant speed along its own axis; the outer wall spray bar (104) is placed on the spray bar frame and arranged along the axial direction of the steel pipe. During the rotation of the steel pipe, the outer wall spray bar (104) can uniformly scour the circumference of the steel pipe; the nozzle baffle (105) is set on the outside of the nozzle to form a semi-enclosed protective structure; the sewage collection tank (106) is set below the nozzle, and the sewage generated during cleaning is collected and recycled by the sewage collection tank (106).

4. The apparatus according to claim 1, characterized in that, The external washing walking module (2) includes a beam frame (201), a second drive motor (202), a second transmission chain (203), a robotic arm screw lifting device (204), a first drag chain (205), and a first water inlet pipe (206); the beam frame (201) is mounted above the wheel rotation module (1) to provide overall support for the module; the second drive motor (202) is mounted on the external washing drive motor seat on the side of the beam frame, and the second drive motor (202) drives the robotic arm screw lifting device (204) to move axially along the guide rail of the beam frame (201) through the second transmission chain (203), thereby realizing the robotic arm screw lifting device (204). 204) Synchronous movement with the length direction of the steel pipe; the robotic arm screw lifting device (204) is connected to the cleaning hanger through the slider welding part and moves along the cleaning hanger. The height of the outer wall cleaning spray bar (245) can be precisely adjusted according to the outer diameter of the steel pipe so that the outer wall cleaning spray bar (245) and the cylindrical surface of the steel pipe maintain a constant cleaning distance; the first drag chain (205) has a built-in first water inlet pipe (206). The head of the first drag chain (205) is connected to the robotic arm screw lifting device (204) through the drag chain fixing part. During the movement of the robotic arm screw lifting device 204, the first drag chain (205) drives the first water inlet pipe (206) to move synchronously.

5. The apparatus according to claim 4, characterized in that, The robotic arm screw lifting device (204) includes a fifth drive motor (241), a fifth transmission chain (242), a screw (243), a screw lifting frame (244), an external wall cleaning spray bar (245), and a warning light (246). The fifth drive motor (241) is mounted on the top of the robotic arm screw lifting device (204) and drives the screw (243) to rotate via the fifth transmission chain (242). The screw lifting frame (244) is connected to the screw (243) via a slider, and the screw (243) is connected to the screw. The lifting frame (244) is used to realize the vertical lifting movement of the screw lifting frame (244); the outer wall cleaning spray bar (245) is fixedly installed at the lower end of the screw lifting frame (244) and can be lifted and lowered synchronously with the screw lifting frame (244); the warning light (246) is installed on the top of the robotic arm screw lifting device (204) to display the equipment operating status and fault prompts; during the cleaning operation, the robotic arm screw lifting device (204) can cooperate with the axial movement of the outer washing walking module to realize the dynamic adjustment of the spray bar height.

6. The apparatus according to claim 1, characterized in that, The upper and lower inner washing module (3) includes an inner wall washing machine base (301), a third drive motor (302), a fourth drive motor (303), a third transmission chain (304), a fourth transmission chain (305), a large pipe traveling box (306), a small pipe traveling box (307), a cleaning large pipe (308), a cleaning small pipe (309), a second drag chain (310), a third drag chain (311), a first rubber hose (312), a second rubber hose (313), a second water inlet pipe (314), and a third water inlet pipe (315).

7. The apparatus according to claim 6, characterized in that, The inner wall flushing base (301) provides protection and support for the upper and lower inner washing modules (3). The third drive motor (302) and the fourth drive motor (303) are mounted on the inner washing drive motor base at the rear end of the inner wall flushing base (301). The third drive motor (302) drives the large pipe traveling box (306) to travel along the hanger via the third transmission chain (304), and the fourth drive motor (303) drives the small pipe traveling box (307) to travel along the hanger via the fourth transmission chain (305). The large pipe travel box (306) and the small pipe travel box (307) are connected to the hanger via deep groove ball bearings. When the large pipe travel box (306) travels, it drives the large cleaning pipe (308) into the steel pipe. When the small pipe travel box (307) travels, it drives the small cleaning pipe (309) into the steel pipe. The large cleaning pipe (308) and the small cleaning pipe (309) are arranged parallel to each other and installed on the corresponding cleaning travel box. The appropriate spray pipe is selected according to the inner diameter of the steel pipe and extends into the inside of the steel pipe to complete the inner wall cleaning. The second drag chain (310) has a built-in first rubber hose (31... 2) The third cable chain (311) has a built-in second hose (313). During the feeding process of the cleaning nozzle, the second cable chain (310) and the third cable chain (311) drive the first hose (312) and the second hose (313) to move respectively. The first hose (312) is connected to the cleaning main pipe (308) with a conical sealing structure at its head end. The second hose (313) is connected to the cleaning small pipe (309) with a conical sealing structure at its head end. The end face self-tightening seal is achieved by the conical surface fitting. The second water inlet pipe (314) is connected to the first hose. The end of the pipe (312) is connected by a conical sealing structure. The end of the third water inlet pipe (315) is connected to the end of the second hose (313) by a conical sealing structure. The second water inlet pipe (314) and the third water inlet pipe (315) deliver the cleaning medium to the cleaning spray pipe to achieve deep cleaning of the inner wall of the steel pipe. After cleaning, the third transmission chain (304) and the fourth transmission chain (305) drive the large pipe travel box (306) and the small pipe travel box (307) to travel, thereby driving the cleaning large pipe (308) and the cleaning small pipe (309) to reset.

8. A cleaning method for an automated cleaning device capable of simultaneously cleaning the inner and outer walls of steel pipes as described in any one of claims 1 to 7, characterized in that, Includes the following steps: S1. Automatic feeding and positioning: The steel pipes to be cleaned are stacked on the feeding rack (401) of the steel pipe feeding module (4). They are conveyed by rolling due to their own weight and the tilt angle of the rack. They are fed one by one by the limit switches (402), (404) and the lifting mechanism (403), (405). After the steel pipes enter the steel pipe alignment auxiliary mechanism (412), the feeding moving alignment device (407) works with the alignment swing plate (408) and the alignment roller (411) to complete the axial precise alignment. After the proximity switch (409) is triggered, the positioning is completed. Then the first cylinder (410) drives the piston assembly to drive the alignment swing plate (408) to retract, release the limit, and smoothly transport the steel pipes to the cleaning station of the roller self-rotation module (1). S2. Simultaneous cleaning of inner and outer walls: After the steel pipe is placed on the support rollers (103), the first drive motor (101) drives the support rollers (103) to rotate through the first transmission chain (102), driving the steel pipe to rotate at a constant speed; the outer washing walking module (2) adjusts the outer wall cleaning spray bar (245) to match the outer diameter of the steel pipe through the robotic arm screw lifting device (204), and moves along the beam frame (201) axially to complete the outer wall cleaning in coordination with the rotation of the steel pipe. The first drag chain (205) protects the first water inlet pipe (206) to ensure stable water supply; at the same time, the upper and lower inner washing modules (3) match the cleaning large pipe (308) or cleaning small pipe (309) according to the inner diameter of the steel pipe, and extend axially into the inside of the steel pipe to achieve simultaneous cleaning of inner and outer walls; the cleaning wastewater is uniformly collected and treated in the wastewater collection tank (106); S3, Cleaning mechanism reset: After the steel pipe is cleaned, the outer washing walking module (2) drives the outer wall cleaning spray bar (245) to rise and return to the initial standby position; the upper and lower inner washing module (3) drives the cleaning spray pipe to exit from the inside of the steel pipe and retract to the inner wall flushing machine base 301 storage position; then the wheel rotation module (1) stops, the supporting wheel (103) stops rotating, and the individual reset of all cleaning mechanisms is completed, and the equipment ends the cleaning operation; S4, Steel pipe transfer and unloading station: After the cleaning mechanism is fully reset, the equipment switches to the unloading mode and the steel pipe unloading module (5) is started; the hydraulic cylinder (502) drives the unloading flap (501) to flip upward. After flipping, the unloading flap (501) is in an inclined state and the end is flush with the unloading rack (507), so that the cleaned steel pipe rolls down steadily by its own weight and is transferred to the unloading rack (507), leaving the cleaning station and completing the unloading and transfer process; S5. Automatic discharge control: After the steel pipe rolls down to the unloading rack (507), it slides through the unloading sensor (506) and triggers the arrival signal. The system confirms that the steel pipe unloading and transfer is completed. The hydraulic cylinder (502) drives the unloading flap (501) to reset. The hydraulic cylinder protective cover (503) protects the hydraulic cylinder throughout the process. At the same time, the second cylinder (504) drives the baffle (505) to cooperate with the working condition of the storage frame. When the material is full, the baffle is raised to stop the discharge. After the frame is cleared, the baffle is lowered to resume the discharge, so as to realize the orderly automatic discharge of steel pipe. S6. Complete machine reset cycle operation: After a single steel pipe is discharged, the steel pipe feeding module (4), the upper and lower inner washing module (3), the outer washing walking module (2), the wheel rotation module (1) and the steel pipe unloading module (5) are all reset to the initial reference state. The equipment enters the standby state and waits for the next steel pipe to be fed, so as to realize the automated continuous cleaning production of steel pipes.

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