A jacket cleaning robot and a control method thereof

Abstract

The application relates to the technical field of jacket cleaning, and discloses a jacket cleaning robot and a control method thereof. The jacket cleaning robot comprises a machine body, a propelling mechanism, a cleaning mechanism and a limiting mechanism. The propelling mechanism is installed on the machine body, the cleaning mechanism is installed on the machine body, and the limiting mechanism comprises a driving assembly and two arc-shaped legs. The two arc-shaped legs are arranged in an axis symmetry mode along a first direction of the machine body, are hinged to the machine body, and comprise an arc-shaped part. The two ends of the arc-shaped part are provided with supporting parts. The driving assembly is connected to the two arc-shaped legs and is used for driving the two arc-shaped legs to rotate so that the two arc-shaped legs abut against two side surfaces of a jacket or jointly abut against an outer circumferential surface of the jacket through the arc-shaped part and the supporting parts. The application provides the jacket cleaning robot and the control method thereof, can clean different pipe diameter cleaning positions of the jacket, reduces the overall cleaning operation cost of the jacket, and improves the cleaning effect.

Description

Technical Field

[0001] This invention relates to the field of duct cleaning technology, and in particular to a duct cleaning robot and its control method. Background Technology

[0002] The jacket platform is in a complex marine environment for a long time. Its columns, diagonal braces, cross braces and node areas are prone to the adhesion of marine organisms such as barnacles, seaweed and shellfish, forming a fouling layer. The fouling layer not only increases the roughness of the jacket surface and increases the hydrodynamic load, but also aggravates local corrosion, affecting the safety and service life of the jacket. Therefore, jacket cleaning robots are usually used to clean the surface of the jacket.

[0003] Currently, Chinese patent application CN116890000A discloses a novel marine organism removal robot and its removal method. The robot uses a robotic arm to enclose and hold the guide frame for fixation, and uses nozzles to flush the dirt layer on the surface of the guide frame. However, the diameters of the pipes in the various cleaning parts of the guide frame, such as the uprights, diagonal braces, and horizontal braces, are different, while the size of the robotic arm can only be adapted to the diameter of a single guide frame for holding. When the robotic arm cannot be adapted to the pipe diameter, the robotic arm cannot move stably and reliably along the guide frame. Often, it is necessary to configure robots with robotic arms of different radii according to different pipe diameters for cleaning, and the cost of cleaning the entire guide frame is relatively high. Summary of the Invention

[0004] The purpose of this invention is to provide a jacket cleaning robot and its control method, which can clean different diameter parts of the jacket, reduce the cost of the overall jacket cleaning operation, and improve the cleaning effect.

[0005] To achieve the above objectives, the present invention provides a catheter rack cleaning robot, comprising: body; A propulsion mechanism, which is mounted on the fuselage; A cleaning mechanism, wherein the cleaning mechanism is mounted on the machine body; and A limiting mechanism includes a drive assembly and two arc-shaped legs. The two arc-shaped legs are arranged symmetrically about the body along a first direction. The two arc-shaped legs are hinged to the body. Each arc-shaped leg includes an arc-shaped portion, and support portions are provided at both ends of the arc-shaped portion. The drive assembly is connected to the two arc-shaped legs and is used to drive the two arc-shaped legs to rotate so that the two arc-shaped legs abut against the two sides of the guide frame through their respective support portions or together hug the outer periphery of the guide frame through the arc-shaped portion and the support portions. The propulsion mechanism enables the jacket cleaning robot to move underwater to the jacket to be cleaned, and the propulsion mechanism enables the two arc-shaped legs to press against the outer circumferential surface of the jacket, so that the jacket cleaning robot can move along the axial direction of the jacket.

[0006] Optionally, the propulsion mechanism includes a first propulsion component that pushes the duct cleaning robot along a first direction and a second propulsion component that pushes the duct cleaning robot along a third direction. The first propulsion component is used to move the duct cleaning robot along the axial direction of the duct frame, and the second propulsion component is used to make the duct cleaning robot press against the outer peripheral surface of the duct frame through the arc-shaped legs. Wherein, the first direction intersects perpendicularly with the third direction.

[0007] Optionally, the number of limiting mechanisms is at least two sets, and the at least two sets of limiting mechanisms are arranged at intervals along the first direction.

[0008] Optionally, the limiting mechanism further includes a crawling wheel and a wheel drive motor. The wheel drive motor is used to drive the crawling wheel to rotate. The crawling wheel is installed on the support portion away from the machine body of the arc-shaped portion. The crawling wheel is used to abut against the outer peripheral surface of the guide frame and can move along the outer peripheral surface of the guide frame.

[0009] Optionally, the arc-shaped leg is hinged to the fuselage via a hinge frame, the hinge frame including two hinge seats, the two hinge seats being spaced apart along the first direction, and one end of the hinge seat being connected to the fuselage; The arc-shaped part includes two arc-shaped ribs, which are spaced apart along the first direction. The two ends of the arc-shaped ribs are provided with the support portions. A pin is connected between the support portions of the two arc-shaped ribs near the body. The two ends of the pin along the first direction are respectively rotatably connected to the two hinge seats. A support plate is connected between the support portions of the two arc-shaped ribs away from the body.

[0010] Optionally, the driving component includes: A support member, which is mounted on the fuselage and located between the two arc-shaped legs along the second direction; A bidirectional lead screw, which extends along the second direction and has two opposite threaded sections, passes through and is rotatably connected to the support member, with the two threaded sections located on both sides of the support member along the second direction. A lead screw drive motor, the lead screw drive motor being connected to the bidirectional lead screw to drive the bidirectional lead screw to rotate; and Two sliders are respectively fitted around the outer periphery of the two threaded segments. Each slider is hinged to a connecting rod, and the other end of the connecting rod is hinged to the arc-shaped leg. The first direction and the second direction intersect each other perpendicularly.

[0011] Optionally, the cleaning mechanism includes a roller brush, the roller brush having a roller extending in a second direction, the roller being rotatably connected to the machine body; The first direction and the second direction intersect each other perpendicularly.

[0012] Optionally, the cleaning mechanism further includes: A first articulated arm, one end of which is hinged to the fuselage; A first axis drive motor is connected to the first articulated arm and is used to drive the first articulated arm to rotate relative to the machine body. A second hinged arm, one end of which is hinged to the other end of the first hinged arm, and the roller is rotatably connected to the other end of the second hinged arm; and A second-axis drive motor, connected to the second hinge arm, is used to drive the second hinge arm to rotate relative to the first hinge arm.

[0013] Optionally, the fuselage includes a base plate, a support frame, and two side plates; The two side plates are arranged in parallel, and one side of each of the two side plates is connected to both sides of the base plate along the second direction. The base plate and the two side plates form an accommodating space. The pushing mechanism is located in the accommodating space and installed on the base plate. The support frame is connected to the opposite sides of the two side plates along the second direction. The cleaning mechanism is installed on the support frame. The arc-shaped leg is hinged to the side of the base plate facing away from the accommodating space. The first direction and the second direction intersect each other perpendicularly.

[0014] A control method for the above-mentioned pipe rack cleaning robot includes the following steps: S1. Obtain the target cleaning area of ​​the duct frame, and the propulsion mechanism drives the duct frame cleaning robot to move to the target cleaning area; S2. Obtain the distance A between the target cleaning area and the duct cleaning robot, and determine whether A > B, where B is a preset switching distance. If yes, proceed to step S3; otherwise, proceed to step S4. S3. The propulsion mechanism pushes the duct cleaning robot to move at a first preset speed, and after a preset time, step S2 is executed again. S4. The propulsion mechanism pushes the duct cleaning robot to move at a second preset speed. The propulsion mechanism adjusts the posture of the duct cleaning robot. The drive component drives the two arc-shaped legs to rotate around the hinge axis, so that the two arc-shaped legs abut against the outer peripheral surface of the target cleaning part. The propulsion mechanism causes the duct cleaning robot to move along the axial direction of the target cleaning part. The second preset speed is less than the first preset speed. S5. The cleaning mechanism cleans the surface of the target cleaning area.

[0015] Compared with the prior art, the advantages of the catheter rack cleaning robot of this invention are as follows: The jacket cleaning robot of this application is equipped with a propulsion mechanism, which can drive the jacket cleaning robot to move underwater. The limiting mechanism of the robot includes two arc-shaped legs arranged symmetrically about the body along a first direction axis. When the arc-shaped legs can be adapted to the diameter of the jacket, after the jacket cleaning robot approaches the jacket, the drive component can drive the two arc-shaped legs to open and surround the outer circumference of the jacket. The two arc-shaped legs together hold the outer circumference of the jacket through the arc-shaped part and the support part. The propulsion mechanism can provide a propulsive force along the axial direction of the jacket, so that the cleaning robot moves along the axial direction of the jacket and cleans the jacket through the cleaning mechanism. When the curved legs cannot be matched with the diameter of the guide frame, the propulsion mechanism moves the robot body to the outer circumference of the guide frame. The propulsion mechanism provides propulsion force, bringing the cleaning robot close to the guide frame. This allows the two curved legs to abut against the two sides of the outer circumference of the guide frame through their respective supports. The two curved legs can restrict the robot's position on the outer circumference of the cleaning area. Thus, while the propulsion mechanism moves the robot body along the axial direction of the cleaning area, it is not easy to wobble or tilt. The robot's running posture is stable, and there is no need for the curved legs to be matched and rotated around the guide frame. This allows the robot to control the cleaning mechanism to clean the cleaning area according to a predetermined path, improving the cleaning effect. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the catheter rack cleaning robot according to an embodiment of the present invention; Figure 2 This is a structural schematic diagram of the catheter rack cleaning robot described in another embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the catheter cleaning robot and the catheter frame described in the embodiment of the present invention; Figure 4 This is a flowchart of the control method for the catheter rack cleaning robot according to an embodiment of the present invention; In the diagram, 1 is the machine body; 11 is the base plate; 12 is the side plate; 13 is the support frame; 2 is the propulsion mechanism; 21 is the first propulsion assembly; 22 is the second propulsion assembly; 3 is the cleaning mechanism; 31 is the roller brush; 32 is the first articulated arm; 33 is the first shaft drive motor; 34 is the second articulated arm; and 35 is the second shaft drive motor. 4. Limiting mechanism; 41. Drive assembly; 411. Bidirectional lead screw; 412. Lead screw drive motor; 413. Slider; 414. Support component; 415. Connecting rod; 42. Arc-shaped leg; 421. Arc-shaped part; 4211. Arc-shaped rib; 422. Support part; 423. Pin; 424. Support plate; 43. Hinge frame; 431. Hinge seat; 44. Crawler wheel; 45. Wheel drive motor; 5. Sensor; 6. Controller; 7. Guide frame. Detailed Implementation

[0017] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0018] In the description of this invention, it should be understood that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this invention based on the specific circumstances.

[0019] In the description of this invention, it should be understood that the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," "longitudinal," "X-axis direction," "Y-axis direction," and "Z-axis direction," etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention. Moreover, some of the above terms, in addition to indicating orientations or positional relationships, may also be used to indicate other meanings; for example, the term "upper" may in some cases be used to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application according to the specific circumstances.

[0020] like Figure 1 ,3 As shown, this embodiment of the invention provides a catheter rack cleaning robot, including a body 1, a propulsion mechanism 2, a cleaning mechanism 3, and a limiting mechanism 4; The propulsion mechanism 2 is installed on the fuselage 1; The cleaning mechanism 3 is installed on the machine body 1; The limiting mechanism 4 includes a drive assembly 41 and two arc-shaped legs 42. The two arc-shaped legs 42 are arranged symmetrically about the body 1 along the first direction X. The two arc-shaped legs 42 are hinged to the body 1. The arc-shaped legs 42 include an arc-shaped part 421. Support parts 422 are provided at both ends of the arc-shaped part 421. The drive assembly 41 is connected to the two arc-shaped legs 42 and is used to drive the two arc-shaped legs 42 to rotate so that the two arc-shaped legs 42 respectively abut against the two sides of the guide frame 7 through their respective support parts 422 or together hug the outer periphery of the guide frame 7 through the arc-shaped part 421 and the support parts 422. The propulsion mechanism 2 can move the jacket cleaning robot underwater to the jacket 7 to be cleaned, and the propulsion mechanism 2 can make the two arc-shaped legs 42 press against the outer peripheral surface of the jacket 7 so that the jacket cleaning robot can move along the axial direction of the jacket 7.

[0021] In this embodiment, the jacket cleaning robot is equipped with a propulsion mechanism 2, which can drive the jacket cleaning robot to move underwater. The robot's limiting mechanism 4 includes two arc-shaped legs 42 symmetrically arranged with respect to the body 1 along the first direction X-axis. When the arc-shaped legs 42 can be adapted to the diameter of the jacket 7, after the jacket cleaning robot approaches the jacket 7, the drive assembly 41 can drive the two arc-shaped legs 42 to open and surround the outer circumference of the jacket 7. The two arc-shaped legs 42 together hug the outer circumference of the jacket 7 through the arc-shaped part 421 and the support part 422. The propulsion mechanism 2 can provide a propulsion force along the axial direction of the jacket 7, so that the cleaning robot moves along the axial direction of the jacket 7 and the jacket 7 is cleaned by the cleaning mechanism 3. When the curved leg 42 cannot be adapted to the diameter of the guide frame 7, the propulsion mechanism 2 drives the body 1 to move to the outer periphery of the guide frame 7. The propulsion mechanism 2 provides propulsion force to make the cleaning robot close to the guide frame 7, so that the two curved legs 42 are respectively pressed against the two sides of the outer periphery of the guide frame 7 through their respective support parts 422. The two curved legs 42 can restrict the position of the robot on the outer periphery of the cleaning area. Thus, while the propulsion mechanism 2 drives the body 1 to move along the axial direction of the cleaning area, it is not easy to wobble or tilt. The robot's running posture is stable, and there is no need for the curved legs 42 to be adapted to the guide frame 7. In this way, the robot can control the cleaning mechanism 3 to clean the cleaning area according to the predetermined path, thereby improving the cleaning effect.

[0022] Furthermore, the propulsion mechanism 2 includes a sensor 5, which can acquire the target cleaning area of ​​the guide frame 7 and the distance relative to the guide frame cleaning robot. Based on the information collected by the sensor 5, the propulsion mechanism 2 pushes the guide frame cleaning robot to move underwater to the guide frame 7 to be cleaned. When the distance reaches the preset switching distance, the propulsion mechanism 2 can make the two arc-shaped legs 42 press against the outer circumference of the guide frame 7.

[0023] Furthermore, it also includes a controller 6, which is mounted on the body 1 and is electrically connected to the propulsion mechanism 2, the cleaning mechanism 3, and the drive assembly 41; The controller 6 includes a waterproof electrical control chamber, an end cap, and electronic control elements. The waterproof electrical control chamber has a receiving cavity and an opening communicating with the receiving cavity. The end cap is located at the opening and connected to the waterproof electrical control chamber. The electronic control elements are located inside the receiving cavity.

[0024] like Figure 1 , 3 As shown, in this embodiment, the propulsion mechanism 2 further includes a first propulsion component 21 that pushes the duct cleaning robot along the first direction X and a second propulsion component 22 that pushes the duct cleaning robot along the third direction Z. The first propulsion component 21 is used to move the duct cleaning robot along the axial direction of the duct frame 7, and the second propulsion component 22 is used to make the duct cleaning robot press against the outer peripheral surface of the duct frame 7 through the arc-shaped leg 42. Among them, the first direction X intersects the third direction Z perpendicularly.

[0025] In this embodiment, when the catheter cleaning robot approaches the catheter 7 to be cleaned, the axial direction of the catheter 7 to be cleaned extends along the first direction X.

[0026] When the arc-shaped leg 42 can be adapted to the diameter of the guide frame 7, the first propulsion assembly 21 is activated to make the guide frame cleaning robot move along the first direction X, and the robot can move along the axial direction of the guide frame 7. When the arc-shaped leg 42 cannot be matched with the diameter of the guide frame 7, the first propulsion component 21 and the second propulsion component 22 are activated, so that the two arc-shaped legs 42 are pressed against the two sides of the outer periphery of the guide frame 7, which plays a supporting and limiting role, and pushes the guide frame cleaning robot to move along the axial direction of the guide frame 7.

[0027] The second propulsion component 22 pushes the arc-shaped leg 42 of the guide frame cleaning robot to press against the outer circumferential surface of the guide frame 7, while the first propulsion component 21 pushes the guide frame cleaning robot to move along the axial direction of the guide frame 7. The maximum static friction between the arc-shaped leg 42 and the guide frame 7 is controlled to be less than the minimum propulsion force of the first propulsion component 21, so as to avoid excessive friction affecting the movement of the guide frame cleaning robot along the guide frame 7.

[0028] Both the first propulsion assembly 21 and the second propulsion assembly 22 are propeller propellers.

[0029] The first direction X, the second direction Y, and the third direction Z intersect each other perpendicularly.

[0030] like Figure 1 As shown, in this embodiment, the number of limiting mechanisms 4 is at least two sets, and the at least two sets of limiting mechanisms 4 are arranged at intervals along the first direction X.

[0031] In this embodiment, the multiple sets of limiting mechanisms 4 arranged at intervals along the first direction X can increase the contact area between the guide frame cleaning robot and the guide frame 7, thereby improving the stability of the limiting mechanism.

[0032] like Figure 2-3 As shown, in this embodiment, the limiting mechanism 4 further includes a crawling wheel 44 and a wheel drive motor 45. The wheel drive motor 45 is used to drive the crawling wheel 44 to rotate. The support part 422 away from the body 1 of the arc-shaped part 421 is equipped with the crawling wheel 44. The crawling wheel 44 is used to abut against the outer peripheral surface of the guide frame 7 and can move along the outer peripheral surface of the guide frame 7.

[0033] In this embodiment, the crawler wheel 44 abuts against the outer peripheral surface of the guide frame 7 and can move along the outer peripheral surface of the guide frame 7. The guide frame cleaning robot and the guide frame 7 are in rolling friction contact, which is not easy to cause wear and avoids the robot scraping the surface of the guide frame 7 when moving along the axial direction of the guide frame 7.

[0034] like Figure 2 As shown, in this embodiment, the arc-shaped leg 42 is further hinged to the body 1 by a hinge frame 43. The hinge frame 43 includes two hinge seats 431, which are spaced apart along the first direction X. One end of the hinge seat 431 is connected to the body 1. The arc-shaped part 421 includes two arc-shaped ribs 4211, which are spaced apart along the first direction X. Support parts 422 are provided at both ends of the arc-shaped ribs 4211. A pin 423 is connected between the support parts 422 of the two arc-shaped ribs 4211 near the body 1. The two ends of the pin 423 along the first direction X are rotatably connected to two hinge seats 431 respectively. A support plate 424 is connected between the support parts 422 of the two arc-shaped ribs 4211 away from the body 1.

[0035] In this embodiment, the two arc-shaped legs 42 hug the outer periphery of the guide frame 7 through their respective two arc-shaped ribs 4211 and support parts 422 or abut against the two sides of the outer periphery of the guide frame 7 through their respective support parts 422, which can increase the contact area between the arc-shaped legs 42 and the guide frame 7 and improve the reliability of robot positioning.

[0036] The two arc-shaped ribs 4211 are connected to the support part 422 near the fuselage 1 by a pin 423, and the two arc-shaped ribs 4211 are connected to the support part 422 away from the fuselage 1 by a support plate 424. The overall structure of the arc-shaped leg 42 is more stable. Furthermore, the two ends of the pin 423 are rotatably connected to the two hinge seats 431, which enables the arc-shaped leg 42 to rotate more stably with the hinge frame 43.

[0037] Furthermore, the crawling wheel 44 and the wheel drive motor 45 are mounted on the support plate 424.

[0038] like Figure 1-2 As shown, in this embodiment, the drive assembly 41 further includes a support 414, a bidirectional lead screw 411, a lead screw drive motor 412, and two sliders 413. The support member 414 is installed on the fuselage 1 and located between the two arc-shaped legs 42 along the second direction Y; The bidirectional lead screw 411 extends along the second direction Y. The bidirectional lead screw 411 has two opposite threaded sections. The bidirectional lead screw 411 passes through and is rotatably connected to the support member 414. The two threaded sections are located on both sides of the support member 414 along the second direction Y. A lead screw drive motor 412 is connected to a bidirectional lead screw 411 to drive the bidirectional lead screw 411 to rotate. Two sliders 413 are respectively fitted on the outer periphery of two threaded sections. The sliders 413 are hinged to a connecting rod 415, and the other end of the connecting rod 415 is hinged to the arc-shaped leg 42. Among them, the first direction X and the second direction Y intersect each other perpendicularly.

[0039] In this embodiment, the lead screw drive motor 412 drives the bidirectional lead screw 411 to rotate on its axis, and the two sliders 413, which are respectively sleeved on the outer periphery of the two opposite threaded sections, move towards or away from each other along the bidirectional lead screw 411, and the connecting rod 415 and the hinge axis of the arc leg 42 rotate.

[0040] When the two sliders 413 move toward each other, the opposite ends of the two curved legs 42 move closer to each other; when the two sliders 413 move away from each other, the opposite ends of the two curved legs 42 move further away from each other.

[0041] The lead screw drive motor 412 is mounted on the support member 414.

[0042] like Figure 1 As shown, in this embodiment, the cleaning mechanism 3 further includes a roller brush 31, which is provided with a roller extending along the second direction Y, and the roller is rotatably connected to the body 1. Among them, the first direction X and the second direction Y intersect each other perpendicularly.

[0043] In this embodiment, since the axial direction of the guide frame 7 extends along the first direction X, as the robot moves along the axial direction of the guide frame 7, the roller brush 31 can rotate with a roller extending along the second direction Y, and the roller brush 31 rolls to contact the surface of the guide frame 7 to wipe and clean it.

[0044] like Figure 1 As shown, in this embodiment, the cleaning mechanism 3 further includes a first hinge arm 32, a first shaft drive motor 33, a second hinge arm 34, and a second shaft drive motor 35; One end of the first articulated arm 32 is hinged to the machine body 1, and the first shaft drive motor 33 is connected to the first articulated arm 32 to drive the first articulated arm 32 to rotate relative to the machine body 1. One end of the second hinge arm 34 is hinged to the other end of the first hinge arm 32, and the roller is rotatably connected to the other end of the second hinge arm 34. The second shaft drive motor 35 is connected to the second hinge arm 34 and is used to drive the second hinge arm 34 to rotate relative to the first hinge arm 32.

[0045] In this embodiment, the first axis drive motor 33 and / or the second axis drive motor 35 are controlled to adjust the hinge angle of the first hinge arm 32 relative to the machine body 1 and / or the hinge angle of the second hinge arm 34 relative to the first hinge arm 32, thereby adjusting the position of the roller brush 31 and the tightness of the roller brush 31 in contact with the surface of the guide frame 7, which facilitates cleaning different areas of the guide frame 7 and the cleaning intensity.

[0046] The first axis drive motor 33 and the second axis drive motor 35 are servo motors.

[0047] like Figure 1 As shown, in this embodiment, the fuselage 1 further includes a base plate 11, a support frame 13, and two side plates 12; Two side plates 12 are arranged in parallel, and one side of each side plate 12 is connected to the two sides of the base plate 11 along the second direction Y. The base plate 11 and the two side plates 12 form an accommodating space. The pushing mechanism 2 is located in the accommodating space and installed on the base plate 11. The support frame 13 is connected to the opposite sides of the two side plates 12 along the second direction Y. The cleaning mechanism 3 is installed on the support frame 13. The arc-shaped leg 42 is hinged to the side of the base plate 11 facing away from the accommodating space. Among them, the first direction X and the second direction Y intersect each other perpendicularly.

[0048] In this embodiment, the base plate 11 and the two side plates 12 form an accommodating space. The propulsion mechanism 2 is located in the accommodating space and installed on the base plate 11. The two side plates 12 can protect the propulsion mechanism 2.

[0049] The support frame 13 is connected to the opposite sides of the two side plates 12 along the second direction Y, which can improve the overall structural stability of the fuselage 1.

[0050] The cleaning mechanism 3 is installed on the support frame 13, and the arc-shaped leg 42 is hinged to the side of the base plate 11 facing away from the accommodating space. The rotation of the arc-shaped leg 42 is not hindered by the accommodating space, and the spatial distribution of the robot parts is reasonable and stable.

[0051] like Figure 1 , 3 As shown in Figure 4, this embodiment of the invention provides a control method for the above-mentioned catheter rack cleaning robot, including the following steps: S1. Obtain the target cleaning area of ​​the guide frame 7, and the propulsion mechanism 2 drives the guide frame cleaning robot to move to the target cleaning area; S2. Obtain the distance A between the target cleaning area and the guide frame cleaning robot, and determine whether A > B, where B is the preset switching distance. If yes, proceed to step S3; otherwise, proceed to step S4. S3. The propulsion mechanism 2 pushes the guide frame cleaning robot to move at a first preset speed, and after a preset time, step S2 is executed again. S4. The propulsion mechanism 2 pushes the duct cleaning robot to move at a second preset speed. The propulsion mechanism 2 adjusts the posture of the duct cleaning robot. The drive component 41 drives the two arc-shaped legs 42 to rotate around the hinge axis, so that the two arc-shaped legs 42 press against the outer peripheral surface of the target cleaning part. The propulsion mechanism 2 makes the duct cleaning robot move along the axial direction of the target cleaning part. The second preset speed is less than the first preset speed. S5, Cleaning mechanism 3 cleans the surface of the target area.

[0052] In this embodiment, after the jacket cleaning robot is launched into the water, the propulsion mechanism 2 drives the jacket cleaning robot to the target cleaning area. The distance A between the target cleaning area and the robot is determined. If the distance A is greater than the preset switching distance B, the robot is far away from the target cleaning area. The propulsion mechanism 2 pushes the jacket cleaning robot to move at a first preset speed. The robot gradually approaches the target cleaning area at a faster speed. If distance A ≤ preset switching distance B, the propulsion mechanism 2 pushes the guide frame cleaning robot to move at a second preset speed. The second preset speed is less than the first preset speed, so the robot decelerates and approaches the target cleaning area and adjusts its posture synchronously. This can improve control accuracy, reduce inertial risks, and prevent the robot from colliding with the target cleaning area.

[0053] Furthermore, step S3 specifically involves: extending the axial direction of the target cleaning area along the first direction X, the first propulsion component 21 pushing the guide frame cleaning robot along the first direction X, and the second propulsion component 22 pushing the guide frame cleaning robot along the third direction Z, so that the guide frame cleaning robot moves at a first preset speed, and after a preset time, step S2 is executed again. Step S4 specifically involves: the first propulsion component 21 pushing the duct cleaning robot along the first direction X, the second propulsion component 22 pushing the duct cleaning robot along the third direction Z, causing the duct cleaning robot to move at a second preset speed, and the first propulsion component 21 and the second propulsion component 22 jointly adjusting the posture of the duct cleaning robot, the drive component 41 driving the two arc-shaped legs 42 to rotate around the hinge axis, the second propulsion component 22 causing the two arc-shaped legs 42 to press against the outer peripheral surface of the target cleaning area, and the first propulsion component 21 causing the duct cleaning robot to move along the axial direction of the target cleaning area, wherein the second preset speed is less than the first preset speed.

[0054] Furthermore, it also includes the following steps: S6. Determine whether the posture of the pipe rack cleaning robot is swaying or tilting during the movement. If yes, proceed to step S7; otherwise, the pipe rack cleaning robot maintains its current posture. S7. The propulsion mechanism adjusts the posture of the guide rail cleaning robot back to the correct position, and after a preset time, step S6 is executed again.

[0055] In this embodiment, during the movement of the duct cleaning robot, the robot's posture may wobble or tilt, causing the robot to jam. Therefore, the propulsion mechanism 2 adjusts the robot's posture to return to the correct position, and judges the robot's posture again after a preset time. By monitoring the robot's posture in real time, the robot can perform cleaning operations more efficiently and smoothly.

[0056] Furthermore, it also includes the following steps: S8. Determine whether the cleaning is finished. If so, stop the operation of the cleaning mechanism 3 and drive the two arc-shaped legs 42 to rotate at the hinge axis until the two arc-shaped legs 42 are removed from the target cleaning area. If not, the guide frame cleaning robot maintains the current state.

[0057] The working process of this invention is as follows: The tube frame cleaning robot is equipped with a propulsion mechanism 2, which can drive the tube frame cleaning robot to move underwater. The robot's limiting mechanism 4 includes two arc-shaped legs 42 symmetrically arranged with the body 1 along the first direction X-axis. When the arc-shaped legs 42 can be adapted to the diameter of the tube frame 7, after the tube frame cleaning robot approaches the tube frame 7, the drive component 41 can drive the two arc-shaped legs 42 to open and surround the outer circumferential surface of the tube frame 7. The two arc-shaped legs 42 together hug the outer circumferential surface of the tube frame 7 through the arc-shaped part 421 and the support part 422. The propulsion mechanism 2 can provide a propulsion force along the axial direction of the tube frame 7, so that the cleaning robot moves along the axial direction of the tube frame 7 and the cleaning mechanism 3 cleans the tube frame 7. When the curved leg 42 cannot be adapted to the diameter of the guide frame 7, the propulsion mechanism 2 drives the body 1 to move to the outer periphery of the guide frame 7. The propulsion mechanism 2 provides propulsion force to make the cleaning robot close to the guide frame 7, so that the two curved legs 42 are respectively pressed against the two sides of the outer periphery of the guide frame 7 through their respective support parts 422. The two curved legs 42 can restrict the position of the robot on the outer periphery of the cleaning area. Thus, while the propulsion mechanism 2 drives the body 1 to move along the axial direction of the cleaning area, it is not easy to wobble or tilt. The robot's running posture is stable, and there is no need for the curved legs 42 to be adapted to the guide frame 7. In this way, the robot can control the cleaning mechanism 3 to clean the cleaning area according to the predetermined path, thereby improving the cleaning effect.

[0058] In summary, the embodiments of the present invention provide a jacketing frame cleaning robot and its control method, which can clean different diameter parts of the jacketing frame, reduce the cost of the overall jacketing frame cleaning operation, and improve the cleaning effect.

[0059] The above description is only an optional embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A pipe fitting cleaning robot, characterized in that, include: body; A propulsion mechanism, which is mounted on the fuselage; A cleaning mechanism, which is installed on the machine body; as well as A limiting mechanism includes a drive assembly and two arc-shaped legs. The two arc-shaped legs are arranged symmetrically about the body along a first direction. The two arc-shaped legs are hinged to the body. Each arc-shaped leg includes an arc-shaped portion, and support portions are provided at both ends of the arc-shaped portion. The drive assembly is connected to the two arc-shaped legs and is used to drive the two arc-shaped legs to rotate so that the two arc-shaped legs abut against the two sides of the guide frame through their respective support portions or together hug the outer periphery of the guide frame through the arc-shaped portion and the support portions. The propulsion mechanism enables the jacket cleaning robot to move underwater to the jacket to be cleaned, and the propulsion mechanism enables the two arc-shaped legs to press against the outer circumferential surface of the jacket, so that the jacket cleaning robot can move along the axial direction of the jacket.

2. The catheter rack cleaning robot according to claim 1, characterized in that, The propulsion mechanism includes a first propulsion component that pushes the duct cleaning robot along a first direction and a second propulsion component that pushes the duct cleaning robot along a third direction. The first propulsion component is used to move the duct cleaning robot along the axial direction of the duct frame, and the second propulsion component is used to make the duct cleaning robot press against the outer peripheral surface of the duct frame through the arc-shaped legs. Wherein, the first direction intersects perpendicularly with the third direction.

3. The catheter rack cleaning robot according to claim 1, characterized in that, The number of limiting mechanisms is at least two sets, and the at least two sets of limiting mechanisms are arranged at intervals along the first direction.

4. The catheter rack cleaning robot according to claim 1, characterized in that, The limiting mechanism also includes a crawling wheel and a wheel drive motor. The wheel drive motor is used to drive the crawling wheel to rotate. The crawling wheel is installed on the support part away from the machine body of the arc-shaped part. The crawling wheel is used to abut against the outer peripheral surface of the guide frame and can move along the outer peripheral surface of the guide frame.

5. The duct cleaning robot according to claim 1, characterized in that, The arc-shaped leg is hinged to the fuselage via a hinge frame, the hinge frame including two hinge seats, the two hinge seats being spaced apart along the first direction, and one end of the hinge seat being connected to the fuselage; The arc-shaped part includes two arc-shaped ribs, which are spaced apart along the first direction. The two ends of the arc-shaped ribs are provided with the support portions. A pin is connected between the support portions of the two arc-shaped ribs near the body. The two ends of the pin along the first direction are respectively rotatably connected to the two hinge seats. A support plate is connected between the support portions of the two arc-shaped ribs away from the body.

6. The catheter rack cleaning robot according to claim 1, characterized in that, The driving component includes: A support member, which is mounted on the fuselage and located between the two arc-shaped legs along the second direction; A bidirectional lead screw, which extends along the second direction and has two opposite threaded sections, passes through and is rotatably connected to the support member, with the two threaded sections located on both sides of the support member along the second direction. A lead screw drive motor, the lead screw drive motor being connected to the bidirectional lead screw to drive the bidirectional lead screw to rotate; and Two sliders are respectively fitted around the outer periphery of the two threaded segments. Each slider is hinged to a connecting rod, and the other end of the connecting rod is hinged to the arc-shaped leg. The first direction and the second direction intersect each other perpendicularly.

7. The duct cleaning robot according to claim 1, characterized in that, The cleaning mechanism includes a roller brush, which has a roller extending in a second direction and the roller is rotatably connected to the machine body. The first direction and the second direction intersect each other perpendicularly.

8. The catheter rack cleaning robot according to claim 7, characterized in that, The cleaning mechanism also includes: A first articulated arm, one end of which is hinged to the fuselage; A first axis drive motor is connected to the first articulated arm and is used to drive the first articulated arm to rotate relative to the machine body. A second hinged arm, one end of which is hinged to the other end of the first hinged arm, and the roller is rotatably connected to the other end of the second hinged arm; and A second-axis drive motor, connected to the second hinge arm, is used to drive the second hinge arm to rotate relative to the first hinge arm.

9. The catheter rack cleaning robot according to claim 1, characterized in that, The fuselage includes a base plate, a support frame, and two side plates; The two side plates are arranged in parallel, and one side of each of the two side plates is connected to both sides of the base plate along the second direction. The base plate and the two side plates form an accommodating space. The pushing mechanism is located in the accommodating space and installed on the base plate. The support frame is connected to the opposite sides of the two side plates along the second direction. The cleaning mechanism is installed on the support frame. The arc-shaped leg is hinged to the side of the base plate facing away from the accommodating space. The first direction and the second direction intersect each other perpendicularly.

10. A control method for a catheter rack cleaning robot as described in any one of claims 1-9, characterized in that, Includes the following steps: S1. Obtain the target cleaning area of ​​the duct frame, and the propulsion mechanism drives the duct frame cleaning robot to move to the target cleaning area; S2. Obtain the distance A between the target cleaning area and the duct cleaning robot, and determine whether A > B, where B is a preset switching distance. If yes, proceed to step S3; otherwise, proceed to step S4. S3. The propulsion mechanism pushes the duct cleaning robot to move at a first preset speed, and after a preset time, step S2 is executed again. S4. The propulsion mechanism pushes the duct cleaning robot to move at a second preset speed. The propulsion mechanism adjusts the posture of the duct cleaning robot. The drive component drives the two arc-shaped legs to rotate around the hinge axis, so that the two arc-shaped legs abut against the outer peripheral surface of the target cleaning part. The propulsion mechanism causes the duct cleaning robot to move along the axial direction of the target cleaning part. The second preset speed is less than the first preset speed. S5. The cleaning mechanism cleans the surface of the target cleaning area.

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