Automatic cleaning device for pressure vessel bolt holes

Abstract

The application discloses an automatic cleaning device for bolt holes of a pressure container and relates to the technical field of cleaning devices. The automatic cleaning device comprises a movement module and a cleaning module. The movement module comprises a movement module main body, a horizontal rotating arm and a support frame. The lower end of the horizontal rotating arm is provided with a rotatable connecting head in a second direction. In the second direction, the side, away from the horizontal rotating arm, of the connecting head is provided with a rotatable magnetic wheel in the second direction. The support frame is provided with a horizontal walking wheel rotatable in the second direction. The movement module main body is used to drive the horizontal rotating arm and the support frame to move along the extension direction of the flange ring on the top surface of the flange ring. The cleaning module is movably arranged on the movement module in the second direction. The cleaning module can clean the bolt holes of the pressure container. According to the automatic cleaning device, the bolt holes of the pressure container can be automatically cleaned, the efficiency of cleaning the bolt holes of the pressure container is improved, and the universality of the automatic cleaning device is improved.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology, and in particular to an automatic cleaning device for bolt holes in pressure vessels. Background Technology

[0002] In related technologies, reactor pressure vessels operate under high temperature and high pressure environments for extended periods. The top cover and shell of the pressure vessel are fastened together with bolts. Residual anti-seize agents in the bolt holes and impurities in the environment may clog the thread clearance of the bolt holes, leading to bolt hole seal failure or stress corrosion cracking. To ensure that the cleanliness of the bolt hole thread surface meets the requirements for sealing and mechanical performance, the bolt holes need to be cleaned regularly. Traditional manual cleaning methods suffer from low efficiency, high labor costs, and high radiation doses to workers. Existing cleaning equipment has problems such as low versatility and the need for additional site layout. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one objective of this invention is to provide an automatic cleaning device for bolt holes in pressure vessels, which can achieve automated cleaning of these bolt holes, improve cleaning efficiency, simplify site layout, and its motion module can be adapted to flange rings with different curvatures, thus improving the versatility of the automatic cleaning device.

[0004] An automatic cleaning device for pressure vessel bolt holes according to an embodiment of the present invention includes: a motion module and a cleaning module. The motion module includes a motion module body, a horizontal rotating arm, and a support frame. The horizontal rotating arm and the support frame are both disposed on the motion module body, and the horizontal rotating arm and the support frame are arranged and spaced apart along a first direction. The horizontal rotating arm is selectively rotatably disposed on the motion module about a second direction, which is the height direction of the automatic cleaning device. The lower end of the horizontal rotating arm is provided with a connecting head rotatably disposed about the second direction. Along the second direction, the connecting head is away from the... A magnetic chuck is provided on one side of the horizontal rotating arm, rotatable around the second direction. The magnetic chuck is used to abut against the inner side of the flange ring. The support frame is movably mounted on the motion module along the first direction. The support frame is provided with a horizontal traveling wheel rotatable around the second direction, which abuts against the outer side of the flange ring. The main body of the motion module is used to drive the horizontal rotating arm and the support frame to move along the extension direction of the flange ring on the top surface of the flange ring. The main body of the motion module can drive the horizontal rotating arm and the support frame to rise and fall synchronously. The first direction and the second direction are perpendicular. The cleaning module is movably mounted on the motion module along the second direction. When the motion module drives the cleaning module to move so that the cleaning module and the pressure vessel bolt hole are opposite each other along the second direction, the cleaning module can clean the pressure vessel bolt hole.

[0005] According to the embodiments of this application, an automatic cleaning device for pressure vessel bolt holes can abut and limit the movement of the device against the inner and outer surfaces of the flange ring of the pressure vessel. This simplifies site layout and improves the operational stability of the automatic cleaning device. By incorporating a motion module and a cleaning module, the automatic cleaning device achieves automated cleaning of pressure vessel bolt holes. This reduces labor costs, minimizes radiation exposure for workers, and increases cleaning efficiency. Furthermore, the motion module is adaptable to flange rings with different curvatures, enhancing the versatility of the automatic cleaning device.

[0006] According to some embodiments of the present invention, the motion module has a first drive motor, the horizontal rotating arm includes a first rotating arm and a second rotating arm fixedly connected, the first rotating arm extends in a horizontal direction, the two ends of the first rotating arm are respectively connected to the first drive motor and the second rotating arm, the second rotating arm extends in a second direction, the lower end of the second rotating arm is connected to the magnetic suction wheel, and the first drive motor is used to drive the horizontal rotating arm to rotate.

[0007] According to some embodiments of the present invention, the support frame has a second drive motor, which is connected to the horizontal traveling wheel and is used to drive the horizontal traveling wheel to rotate.

[0008] According to some embodiments of the present invention, the motion module body includes: an upper plate, a lifting structure, and a lower plate, the upper plate and the lower plate being spaced apart along the second direction, the lifting structure being connected between the upper plate and the lower plate, the horizontal rotating arm and the support frame being mounted on the upper plate, and the lifting structure being used to drive the upper plate to synchronously lift the horizontal rotating arm and the support frame.

[0009] According to some embodiments of the present invention, a plurality of rollers are provided below the lower plate to allow the motion module body to move along the extension direction of the flange ring. The plurality of rollers form multiple roller groups, which are arranged along the first direction. Each roller group includes a plurality of rollers, and the rollers in each roller group are arranged along a third direction. Along the first direction, the rollers in the roller groups on the side opposite to the horizontal rotating arm are respectively connected to a corresponding third drive motor. The third drive motor is fixed to the lower plate and is used to drive the corresponding rollers to roll. The first direction, the second direction, and the third direction are perpendicular to each other.

[0010] According to some embodiments of the present invention, the upper plate has a first clearance hole and the lower plate has a second clearance hole. The first clearance hole and the second clearance hole are opposite to each other along the second direction. The cleaning module is disposed corresponding to the first clearance hole and the second clearance hole. The first clearance hole and the second clearance hole are used to avoid the cleaning module.

[0011] According to some embodiments of the present invention, the cleaning module includes: a movable base, a rotary nozzle, a three-way solenoid valve, and a first drive mechanism. The movable module has a fixed base extending along a second direction. The rotary nozzle is rotatably disposed on the movable base about the second direction and extends along the second direction. The three-way solenoid valve has a first interface, a second interface, and a third interface. The rotary nozzle is connected to the first interface. The second interface is used to connect to a dry ice machine. The third interface is used to connect to an air compressor. The first drive mechanism is disposed on the movable base and is used to drive the rotary nozzle to rotate. The movable base is movably disposed on the fixed base along the second direction to drive the rotary nozzle, the three-way solenoid valve, and the first drive mechanism to move synchronously.

[0012] According to some embodiments of the present invention, the first driving mechanism includes: a fourth driving motor, a first driving pulley, a second driving pulley, and a transmission belt. The first driving pulley and the second driving pulley are rotatably disposed on the movable seat. The first driving pulley and the second driving pulley are connected by transmission belt. The fourth driving motor is connected to the first driving pulley to drive the first driving pulley to rotate. The second driving pulley is fixedly connected to the rotating nozzle to drive the rotating nozzle to rotate synchronously.

[0013] According to some embodiments of the present invention, the automatic cleaning device further includes a detection module, the detection module including a camera and a second driving mechanism, the camera being movably disposed on the lower surface of the lower plate body via the second driving mechanism, the second driving mechanism being used to drive the camera to a collection position and an avoidance position, the camera being positioned at the collection position and the second avoidance hole being opposite to each other along the second direction to collect image information of the pressure vessel bolt hole, the camera being positioned at the avoidance position and the camera being offset from the second avoidance hole along the second direction.

[0014] According to some embodiments of the present invention, the automatic cleaning device further includes a positioning module, which is used to determine the position of the pressure vessel bolt hole so that the cleaning module and the pressure vessel bolt hole are opposite each other along the second direction.

[0015] According to some embodiments of the present invention, the positioning module includes: a plurality of laser sensors disposed on the lower surface of the motion module body, the plurality of laser sensors being used to detect the pressure vessel bolt holes, so that the cleaning module and the pressure vessel bolt holes are opposite each other along the second direction.

[0016] According to some embodiments of the present invention, the positioning module further includes: a positioning algorithm, which, in conjunction with the laser sensor, enables the automatic cleaning device to locate the position of the bolt hole of the pressure vessel, and, in conjunction with the positioning algorithm and the laser sensor, monitors the movement error of the automatic cleaning device on the flange ring in real time, and controls the automatic cleaning device to automatically return to the correct position when the automatic cleaning device has a movement error.

[0017] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0019] Figure 1 This is a schematic diagram of the automatic cleaning device and flange ring assembly according to an embodiment of this application;

[0020] Figure 2 This is a side view of an automatic cleaning apparatus according to an embodiment of this application;

[0021] Figure 3 This is a bottom view of an automatic cleaning apparatus according to an embodiment of this application;

[0022] Figure 4 This is a cross-sectional view of the cleaning module according to an embodiment of this application.

[0023] Figure label:

[0024] Automatic cleaning device 100,

[0025] Motion module 1, cleaning module 2, detection module 3, positioning module 4.

[0026] The motion module body 10 includes an upper plate 11, a first clearance hole 111, a lifting structure 12, a sub-lifting frame 121, a lower plate 13, a second clearance hole 131, and rollers 14.

[0027] Horizontal rotating arm 20, first rotating arm 21, second rotating arm 22, connector 23, magnetic roller 24.

[0028] Support frame 30, horizontal traveling wheel 31, first sub-support frame 32, second sub-support frame 33, weight reduction hole 34.

[0029] First drive motor 41, second drive motor 42, third drive motor 43.

[0030] Fixed base 51, movable base 52, third clearance hole 521, rotary nozzle 53, three-way solenoid valve 54, nozzle connector 55, sealing ring 56, first sleeve 57, first bearing 58, dust cover 59.

[0031] First drive mechanism 61, fourth drive motor 611, first drive pulley 612, second drive pulley 613, transmission belt 614, second drive mechanism 62, second drive unit 621, second push rod 622, third drive mechanism 63, first drive unit 631, first push rod 632, fourth drive mechanism 64, fifth drive motor 641, first drive rod 642, fifth drive mechanism 65, sixth drive motor 651.

[0032] Camera 71, signal repeater 72,

[0033] First guide rail 81, first slider 82, second guide rail 83, second slider 84, third guide rail 85, third slider 86.

[0034] Laser sensor 91,

[0035] Pressure vessel bolt holes 200,

[0036] Flange ring 300, flange ring top surface 310, flange ring inner surface 320, flange ring outer surface 330. Detailed Implementation

[0037] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0038] The following is for reference. Figures 1-4 An automatic cleaning device 100 for cleaning the bolt holes 200 of a pressure vessel according to an embodiment of the present invention is described.

[0039] An automatic cleaning device 100 for the bolt holes 200 of a pressure vessel according to an embodiment of the present invention, such as... Figures 1-4 As shown, the automatic cleaning device 100 may include a motion module 1 and a cleaning module 2. The motion module 1 includes a motion module body 10, a horizontal rotating arm 20, and a support frame 30. The horizontal rotating arm 20 and the support frame 30 are both disposed on the motion module body 10 and are arranged and spaced apart along a first direction. The horizontal rotating arm 20 is selectively rotatably disposed on the motion module 1 around a second direction, which is the height direction of the automatic cleaning device 100. The lower end of the horizontal rotating arm 20 is provided with a connector 23 that is rotatably disposed around the second direction. Along the second direction, the connector 23 is away from the horizontal rotating arm 20. A magnetic chuck 24 rotatable around a second direction is provided on one side of the flange ring. The magnetic chuck 24 is used to abut against the inner side 320 of the flange ring. The support frame 30 is movably mounted on the motion module 1 along a first direction. The support frame 30 is provided with a horizontal traveling wheel 31 rotatable around a second direction. The horizontal traveling wheel 31 is used to abut against the outer side 330 of the flange ring. The motion module body 10 is used to drive the horizontal rotating arm 20 and the support frame 30 to move along the extension direction of the flange ring 300 on the top surface 310 of the flange ring. The motion module body 10 can drive the horizontal rotating arm 20 and the support frame 30 to rise and fall synchronously. The first direction and the second direction are perpendicular. The cleaning module 2 is movably mounted on the motion module 1 along the second direction. When the motion module 1 drives the cleaning module 2 to move so that the cleaning module 2 and the pressure vessel bolt hole 200 are opposite each other along the second direction, the cleaning module 2 can clean the pressure vessel bolt hole 200.

[0040] It should be noted that reactor pressure vessels operate under high temperature and high pressure environments for extended periods. The top cover and cylinder of the pressure vessel are fastened together by main bolts. Residual anti-seize agents in the bolt holes and impurities in the environment may clog the thread clearance of the bolt holes, leading to bolt hole seal failure or stress corrosion cracking. To ensure that the cleanliness of the bolt hole thread surface meets the requirements for sealing and mechanical performance, the bolt holes need to be cleaned regularly. Traditional manual cleaning methods suffer from low efficiency, high labor costs, and high radiation doses to workers. Existing cleaning equipment has problems such as low versatility and the need for additional site layout.

[0041] Based on this, this application proposes an automatic cleaning device 100 for the bolt holes 200 of a pressure vessel. The pressure vessel may include a flange structure with an annular configuration, specifically a flange ring 300. The flange ring 300 may have a top surface 310, an inner surface 320, and an outer surface 330. The top surface 310 may be located at the upper end of the flange ring 300 along its height direction. The inner surface 320 and the outer surface 330 may be arranged opposite to each other and spaced apart along the radial direction of the flange ring 300. The inner surface 320 may be located on the inner side of the flange ring 300 along its radial direction, and the outer surface 330 may be located on the outer side of the flange ring 300 along its radial direction. It should be noted that, along the radial direction of the flange ring 300, the side closer to the center of the flange ring 300 is the inner side, and the side farther from the center of the flange ring 300 is the outer side. The pressure vessel may include pressure vessel bolt holes 200, which may be located on the top surface 310 of the flange ring 300 and extend along the height direction of the flange ring 300. There may be multiple pressure vessel bolt holes 200, which may be evenly arranged along the circumference of the flange ring 300 or spaced apart.

[0042] The automatic cleaning device 100 may include a motion module 1 and a cleaning module 2. The automatic cleaning device 100 can use the cleaning module 2 to clean the bolt holes 200 of the pressure vessel. The automatic cleaning device 100 can move on the top surface 310 of the flange ring 300 via the motion module 1. The automatic cleaning device 100 can clean multiple bolt holes 200 of the pressure vessel.

[0043] like Figure 1As shown, the motion module 1 may include a motion module body 10, a horizontal rotating arm 20, and a support frame 30. The motion module body 10 may be located on the top surface 310 of the flange ring and may move on the top surface 310 of the flange ring. Both the horizontal rotating arm 20 and the support frame 30 are disposed on the motion module body 10 and can be connected to it. The horizontal rotating arm 20 and the support frame 30 may be arranged along a first direction, may be spaced apart along the first direction, and may be located on both sides of the motion module body 10 along the first direction. When the automatic cleaning device 100... Figure 1 When setting the direction, the first direction can be... Figure 1 The horizontal rotating arm 20 is rotatably mounted on the motion module 1. The horizontal rotating arm 20 can rotate relative to the motion module body 10 about a second direction. The horizontal rotating arm 20 is selectively rotatably mounted on the motion module 1. When the horizontal rotating arm 20 needs to rotate, it can rotate; when it does not need to rotate, it can be locked. When the automatic cleaning device 100... Figure 1 When setting the direction, the second direction can be... Figure 1 In the Z direction, the second direction is the height direction of the automatic cleaning device 100, and the second direction is parallel to the height direction of the flange ring 300. The first direction can be perpendicular to the second direction.

[0044] like Figure 1 and Figure 2 As shown, along the second direction, the lower end of the horizontal rotating arm 20 is provided with a connector 23, which can rotate freely around the second direction. Along the second direction, a magnetic roller 24 can be provided on the side of the connector 23 opposite to the horizontal rotating arm 20. The magnetic roller 24 can rotate around the second direction and can be used to abut against the inner surface 320 of the flange ring. By rotating the horizontal rotating arm 20, the magnetic roller 24 can abut against and limit the movement of the main body 10 of the motion module 300 along the first direction towards the inner side of the flange ring 300, thereby restricting the movement of the main body 10 of the motion module 300. There can be multiple horizontal rotating arms 20 and multiple connectors 23. Multiple connectors 23 can be configured one-to-one with multiple horizontal rotating arms 20, and each horizontal rotating arm 20 has a corresponding connector 23. There can be multiple magnetic rollers 24. Each connector 23 can be provided with multiple magnetic rollers 24. The multiple magnetic rollers 24 can be arranged along the length direction of the connector 23, and all of the multiple magnetic rollers 24 can abut against the inner side 320 of the flange ring. This application takes two horizontal swing arms 20, two connectors 23, and four magnetic rollers 24 as an example for illustration.

[0045] The support frame 30 is movably mounted on the motion module 1 and can move relative to the motion module body 10 along a first direction. The support frame 30 may be equipped with horizontal traveling wheels 31, which can rotate around a second direction and abut against the outer surface 330 of the flange ring. The support frame 30 can drive the horizontal traveling wheels 31 to move together. By moving the support frame 30, the horizontal traveling wheels 31 can be abutted and limited against the outer surface 330 of the flange ring, thereby restricting the movement of the motion module body 10 towards the outside of the flange ring 300 along the first direction. As an example, there can be multiple horizontal traveling wheels 31, which can be arranged sequentially along a third direction or spaced apart along the third direction. When the automatic cleaning device 100... Figure 1 When setting the direction, the third direction can be... Figure 1 In the Y direction, the first direction is perpendicular to the second and third directions.

[0046] As an example, such as Figure 2 As shown, the motion module 1 may include a third drive mechanism 63, which may be configured as an electric push rod. The third drive mechanism 63 may include a first drive unit 631 and a first push rod 632. The first push rod 632 may extend or retract along a first direction. The first drive unit 631 may be fixed to the motion module body 10 by welding, bolting, or other means. The first push rod 632 may be connected to the support frame 30 by welding, bolting, or other means. The first drive unit 631 may drive the first push rod 632 to extend or retract along the first direction. When the first drive unit 631 drives the first push rod 632 to move along the first direction, the first push rod 632 may drive the support frame 30 to move along the first direction, so that the horizontal traveling wheel 31 may abut against the outer side 330 of the flange ring.

[0047] As an example, such as Figure 1 and Figure 2 As shown, the support frame 30 may include a first sub-support frame 32 and a second sub-support frame 33. The first sub-support frame 32 may extend horizontally, and the second sub-support frame 33 may extend in a second direction. The second sub-support frame 33 may be spaced apart from the outer side 330 of the flange ring, and horizontal traveling wheels 31 may be provided on the second sub-support frame 33. An angle may be formed between the first sub-support frame 32 and the second sub-support frame 33, and the angle may be a right angle. Multiple weight-reducing holes 34 may be formed on the first sub-support frame 32, and multiple weight-reducing holes 34 may be formed on the second sub-support frame 33. This reduces the weight of the support frame 30 while satisfying its structural strength requirements, thereby reducing the risk that excessive weight of the support frame 30 may affect the movement of the motion module 1 and improving the reliability of the automatic cleaning device 100.

[0048] As an example, such as Figure 2As shown, the motion module body 10 may be provided with a first guide rail 81, which extends along a first direction. A first sub-support frame 32 may be connected to a first slider 82, which can be assembled with the first guide rail 81 and can move on the first guide rail 81. When the third drive mechanism 63 drives the support frame 30 to move along the first direction, the first slider 82 can move along the first direction on the first guide rail 81. By setting the first guide rail 81 and the first slider 82, the first guide rail 81 and the first slider 82 can guide the movement of the support frame 30. There may be multiple first guide rails 81 and multiple first sliders 82. Multiple first guide rails 81 and multiple first sliders 82 can be set one-to-one, and each first guide rail 81 has a corresponding first slider 82, and each first slider 82 can move on the corresponding first guide rail 81. This application uses two first guide rails 81 and two first sliders 82 as an example for explanation. The two guide rails can be spaced apart along a third direction.

[0049] The motion module body 10 can move along the extension direction of the flange ring 300 (i.e., the circumferential direction of the flange ring 300) on the top surface 310 of the flange ring. The motion module body 10 can drive the horizontal rotating arm 20 and the support frame 30 to move together along the extension direction of the flange ring 300. When the motion module body 10 moves, the connector 23 can rotate, so that the magnetic chuck 24 can always abut against the inner surface 320 of the flange ring, and the horizontal traveling wheel 31 can clamp the flange ring 300 together with the magnetic chuck 24. When the motion module body 10 moves along the extension direction of the flange ring 300, the connector 23 can always rotate freely, and the magnetic chuck 24 can always abut against the inner surface 320 of the flange ring. The motion module 1 can be applied to flange rings 300 with different curvatures.

[0050] The motion module body 10 can drive the horizontal rotating arm 20 and the support frame 30 to rise and fall synchronously. When the automatic cleaning device 100 is used to clean the pressure vessel bolt holes 200, the horizontal rotating arm 20 and the support frame 30 need to descend synchronously below the lowest plane of the flange ring 300 so that the magnetic roller 24 can abut against the inner side 320 of the flange ring and the horizontal traveling wheel 31 can abut against the outer side 330 of the flange ring. For example, when the flange ring 300 is constructed as a stepped flange ring 300, the horizontal rotating arm 20 and the support frame 30 need to descend synchronously below the lowest plane of the stepped flange ring 300. The cleaning module 2 is movably disposed on the motion module 1 and can move relative to the motion module body 10 along the second direction. The motion module 1 can drive the cleaning module 2 to move synchronously. When the motion module 1 drives the cleaning module 2 to move to a position where the cleaning module 2 and the pressure vessel bolt holes 200 are opposite each other along the second direction, the cleaning module 2 can descend into the pressure vessel bolt holes 200 and clean the pressure vessel bolt holes 200. After cleaning is completed, the cleaning module 2 can rise above the pressure vessel bolt hole 200, and the motion module 1 can drive the cleaning module 2 to continue to move synchronously. The cleaning module 2 can be used to clean the next pressure vessel bolt hole 200 until the cleaning module 2 has cleaned all the pressure vessel bolt holes 200, and the automatic cleaning device 100 completes its work.

[0051] In this embodiment, the automatic cleaning device 100 can abut and limit the movement of the inner side 320 and outer side 330 of the flange ring of the pressure vessel, which simplifies site layout and improves the operational stability of the automatic cleaning device 100. By configuring the automatic cleaning device 100 with a motion module 1 and a cleaning module 2, the automatic cleaning of the bolt holes 200 of the pressure vessel can be achieved, which helps reduce the labor cost of cleaning the bolt holes 200, reduces the radiation dose to operators, and improves the efficiency of cleaning the bolt holes 200. Furthermore, the motion module 1 can be applied to flange rings 300 with different curvatures, which improves the versatility of the automatic cleaning device 100.

[0052] In some embodiments of the present invention, such as Figure 1 and Figure 2 As shown, the motion module 1 has a first drive motor 41, and the horizontal rotating arm 20 includes a first rotating arm 21 and a second rotating arm 22 fixedly connected. The first rotating arm 21 extends in the horizontal direction, and the two ends of the first rotating arm 21 are respectively connected to the first drive motor 41 and the second rotating arm 22. The second rotating arm 22 extends in the second direction, and the lower end of the second rotating arm 22 is connected to a magnetic suction wheel 24. The first drive motor 41 is used to drive the horizontal rotating arm 20 to rotate.

[0053] The motion module 1 may have a first drive motor 41, which can be used to drive the horizontal rotating arm 20 to rotate. As an example, the first drive motor 41 can be a servo motor. The first drive motor 41 can drive the horizontal rotating arm 20 closer to the inner side 320 of the flange ring, allowing the magnetic pulley 24 to abut against the inner side 320 of the flange ring. The first drive motor 41 can also lock the position of the horizontal rotating arm 20 by braking, preventing it from rotating further, thus achieving the effect of selective rotation of the horizontal rotating arm 20. The horizontal rotating arm 20 may include a first rotating arm 21 and a second rotating arm 22. The first rotating arm 21 and the second rotating arm 22 can be integrally formed, welded together, or fixedly connected. The first rotating arm 21 can extend horizontally, and its two ends can be connected to the first drive motor 41 and the second rotating arm 22, respectively. The second rotating arm 22 can extend along a second direction and can be located below the first rotating arm 21. The first rotating arm 21 and the second rotating arm 22 can form an angle, which can be a right angle. The lower end of the second rotating arm 22 can be connected to a connector 23, and the connector 23 can be provided with two magnetic rollers 24. The first drive motor 41 can drive the first rotating arm 21 to rotate, and the first rotating arm 21 can drive the second rotating arm 22 to rotate together, so that the magnetic rollers 24 can abut against the inner side 320 of the flange ring.

[0054] The first drive motor 41 may include a first motor shaft, which may be fixedly connected to the first rotating arm 21. When the first drive motor 41 drives the first motor shaft to rotate, the first motor shaft can drive the first rotating arm 21 to rotate around a second direction, and the first rotating arm 21 can drive the second rotating arm 22 to rotate together, so that the magnetic suction wheel 24 can abut against the inner surface 320 of the flange ring. When the magnetic suction wheel 24 abuts against the inner surface 320 of the flange ring, the first drive motor 41 stops driving the first motor shaft to rotate, the horizontal rotating arm 20 no longer rotates, and the horizontal rotating arm 20 is locked, thereby achieving the effect of selective rotation of the horizontal rotating arm 20. The first drive motor 41 can selectively drive the horizontal rotating arm 20 to rotate.

[0055] There can be multiple first drive motors 41, and the number of first drive motors 41 can be equal to the number of horizontal rotating arms 20. Multiple first drive motors 41 can be configured one-to-one with multiple horizontal rotating arms 20, and each horizontal rotating arm 20 can have a corresponding first drive motor 41 connected to it. Each first drive motor 41 can drive the corresponding horizontal rotating arm 20 to rotate. This application uses two first drive motors 41 and two horizontal rotating arms 20 as an example for illustration.

[0056] As an example, an angle sensor may be provided at the connection between the first rotating arm 21 and the first drive motor 41, and an angle sensor may be provided at the connection between the second rotating arm 22 and the connector 23. The angle sensor can read the rotation angle of its position.

[0057] In some embodiments of the present invention, such as Figure 1 and Figure 2 As shown, the support frame 30 has a second drive motor 42, which is connected to the horizontal traveling wheel 31. The second drive motor 42 is used to drive the horizontal traveling wheel 31 to rotate.

[0058] The support frame 30 has a second drive motor 42, which can be fixedly mounted on the support frame 30. The second drive motor 42 may include a second motor shaft, which can be fixedly connected to the horizontal traveling wheel 31 and can rotate in a second direction. When the second drive motor 42 drives the second motor shaft to rotate, the second motor shaft can drive the horizontal traveling wheel 31 to rotate in the second direction, thereby achieving the effect that the second drive motor 42 can drive the horizontal traveling wheel 31 to rotate. When the motion module body 10 needs to rotate the horizontal traveling wheel 31 to adjust the direction of movement, the second drive motor 42 can drive the second motor shaft to rotate, and the second motor shaft can drive the horizontal traveling wheel 31 to rotate together, so that the horizontal traveling wheel 31 can be used to assist the motion module body 10 in its movement.

[0059] In some embodiments of the present invention, such as Figure 1 and Figure 2 As shown, the motion module body 10 may include: an upper plate 11, a lifting structure 12 and a lower plate 13. The upper plate 11 and the lower plate 13 are spaced apart along a second direction. The lifting structure 12 is connected between the upper plate 11 and the lower plate 13. The horizontal rotating arm 20 and the support frame 30 are disposed on the upper plate 11. The lifting structure 12 is used to drive the upper plate 11 to drive the horizontal rotating arm 20 and the support frame 30 to move up and down synchronously.

[0060] The upper plate 11, lifting structure 12, and lower plate 13 can be arranged sequentially along the second direction. Both the upper plate 11 and the lower plate 13 can extend horizontally and can be positioned opposite each other and spaced apart along the second direction. The lifting structure 12 can be connected between the upper plate 11 and the lower plate 13. The lifting structure 12 can drive the upper plate 11 to rise and fall synchronously, while the lower plate 13 can remain fixed. The horizontal rotating arm 20 and the support frame 30 can both be fixedly connected to the upper plate 11. When the lifting structure 12 drives the upper plate 11 to rise or fall, the upper plate 11 can drive the horizontal rotating arm 20 and the support frame 30 to rise or fall synchronously, thereby allowing the magnetic suction wheel 24 and the horizontal traveling wheel 31 to rise and fall synchronously. When the automatic cleaning device 100 is used to clean the bolt holes 200 of the pressure vessel, the lifting structure 12 can drive the upper plate 11 to drive the horizontal rotating arm 20 and the support frame 30 to descend synchronously, so that the horizontal rotating arm 20 and the support frame 30 can be located below the lowest plane of the flange ring 300. After the automatic cleaning device 100 completes the cleaning of the bolt holes 200 of the pressure vessel, the lifting structure 12 can drive the upper plate 11 to drive the horizontal rotating arm 20 and the support frame 30 to rise synchronously, which can reduce the space occupied by the automatic cleaning device 100 and facilitate the transportation of the automatic cleaning device 100.

[0061] As an example, such as Figure 1 As shown, the lifting structure 12 may include multiple sub-lifting frames 121. Each sub-lifting frame 121 can be configured as a scissor-type lifting frame. The two ends of each sub-lifting frame 121 along the second direction can be connected to the upper plate 11 and the lower plate 13, respectively. The sub-lifting frames 121 can be unfolded or folded. With the unfolding and folding of the sub-lifting frames 121, the lifting structure 12 can drive the upper plate 11 to rise or fall. The motion module 1 may include a fourth drive mechanism 64, which can be connected to the lifting structure 12 and can be used to drive the lifting structure 12 to rise and fall along the second direction. Multiple sub-lifting frames 121 can form multiple sets of sub-lifting frame groups. These sets of sub-lifting frame groups can be arranged sequentially along a third direction. Each set of sub-lifting frame groups may include multiple sub-lifting frames 121. The multiple sub-lifting frames 121 in each set of sub-lifting frame groups can be arranged sequentially along a first direction, with the third direction perpendicular to the first direction. This application embodiment uses four sub-lifting frames 121 and two sub-lifting frame groups as an example, with each sub-lifting frame group including two sub-lifting frames 121.

[0062] As an example, the fourth drive mechanism 64 may include a fifth drive motor 641, a first drive rod 642, a first movable sleeve, and a second movable sleeve. Along a first direction, the first movable sleeve may be connected to a sub-lifting frame 121 located near the fifth drive motor 641, and the second movable sleeve may be connected to a sub-lifting frame 121 located away from the fifth drive motor 641. The first drive rod 642 may extend along the first direction. The fifth drive structure may include a third motor shaft, which may be connected to the first drive rod 642. The fifth drive structure may drive the third motor shaft to rotate, and the third motor shaft may drive the first drive rod 642 to rotate together. The first drive rod 642 may extend along the first direction and be rotatably mounted on the lifting structure 12. The fifth drive motor 641 may be fixed to the lifting structure 12 and drively connected to the first drive rod 642. The fifth drive motor 641 is used to drive the first drive rod 642 to rotate. The first movable sleeve and the second movable sleeve can both be sleeved on the first drive rod 642 and arranged along the first direction. The two sub-lifting frames 121 in each sub-lifting frame group can be connected to the first movable sleeve and the second movable sleeve respectively. There can be multiple first drive rods 642, first movable sleeves, and second movable sleeves. Multiple first drive rods 642 can be correspondingly arranged with multiple first movable sleeves, and multiple first drive rods 642 can be correspondingly arranged with multiple second movable sleeves. Each first drive rod 642 can have a corresponding first movable sleeve and a second movable sleeve connected to it. The first movable sleeve and the second movable sleeve can be fixedly connected to the corresponding sub-lifting frame 121.

[0063] The first drive rod 642 can be constructed as a rod with a threaded structure on its outer peripheral wall. The first movable sleeve can have a first threaded hole that penetrates the first movable sleeve along a first direction, and the first movable sleeve can be threadedly engaged with the first drive rod 642. The second movable sleeve can have a second threaded hole that penetrates the second movable sleeve along the first direction, and the second threaded hole can be assembled with the threaded structure. Both the first and second movable sleeves can be threadedly engaged with the first drive rod 642. When the first drive rod 642 rotates, both the first and second movable sleeves can move along the first direction, thus achieving the effect of the first drive rod 642 rotating relative to the first movable sleeve and causing the first movable sleeve to move along the first direction, and vice versa.

[0064] The thread direction of the first threaded hole can be opposite to that of the second threaded hole. When the first drive rod 642 rotates, the first moving sleeve and the second moving sleeve move closer to each other or further apart. The fifth drive motor 641 can drive the first drive rod 642 to rotate in the fourth or fifth direction. The fourth direction can be either clockwise or counterclockwise, and the fifth direction can be either clockwise or counterclockwise. Depending on the specific arrangement of the thread directions of the first drive rod 642, the first moving sleeve, and the second moving sleeve, the effect of the first drive rod 642 driving the first moving sleeve and the second moving sleeve to move closer to each other or further apart can be achieved. When the first moving sleeve and the second moving sleeve move closer to each other, the sub-lifting frame 121 can be folded, and the lifting structure 12 can drive the upper plate 11 to drive the horizontal rotating arm 20 and the support frame 30 to descend synchronously. When the first moving sleeve and the second moving sleeve move further apart, the sub-lifting frame 121 can be unfolded, and the lifting structure 12 can drive the upper plate 11 to drive the horizontal rotating arm 20 and the support frame 30 to rise synchronously.

[0065] As an example, a speed reducer or gear reduction mechanism may be provided between the fifth drive motor 641 and the first drive rod 642 to reduce the output speed of the fifth drive motor 641, reduce the speed of the first drive rod 642, and improve the reliability of the lifting structure 12.

[0066] In some embodiments of the present invention, such as Figure 2 and Figure 3 As shown, multiple rollers 14 are provided below the lower plate 13 to allow the motion module body 10 to move along the extension direction of the flange ring 300. The multiple rollers 14 form multiple roller groups, which are arranged along a first direction. Each roller group includes multiple rollers 14, and the multiple rollers 14 in each roller group are arranged along a third direction. Along the first direction, the rollers 14 in the roller group opposite to the horizontal rotating arm 20 are respectively connected to the corresponding third drive motor 43. The third drive motor 43 is fixed to the lower plate 13 and is used to drive the corresponding rollers 14 to roll. The first direction, the second direction, and the third direction are perpendicular to each other.

[0067] The motion module body 10 may be provided with multiple rollers 14, which may be evenly disposed on the lower surface of the lower plate 13 and fixedly connected to the lower plate 13. By providing multiple rollers 14, the motion module body 10 can move along the extension direction of the flange ring 300. Multiple rollers 14 may form multiple roller groups, which may be arranged along a first direction and may be arranged opposite to each other and spaced apart along the first direction. Each roller group may include multiple rollers 14, which may be arranged along a third direction. In this embodiment, two roller groups are used as an example, with each roller group including two rollers 14. Along the first direction, the rollers 14 located on the side away from the horizontal rotating arm 20 in the two roller groups may be connected to the corresponding third drive motors 43. The third drive motors 43 may be fixed to the lower plate 13 by welding, bolting, or other means, and may drive the corresponding rollers 14 to rotate. There can be two third drive motors 43, and the two third drive motors 43 can work synchronously to drive the corresponding rollers 14 to rotate synchronously.

[0068] By setting the roller 14 located on the side opposite to the horizontal rotating arm 20 in each roller group to be connected to the corresponding third drive motor 43, differential steering can be achieved. When the motion module body 10 moves along the extension direction of the flange ring 300, the motion module body 10 can achieve flexible steering, and the use of the third drive motor 43 can be reduced, which is conducive to reducing costs and further reducing the weight of the automatic cleaning device 100.

[0069] In some embodiments of the present invention, such as Figure 1 and Figure 3 As shown, the upper plate 11 has a first clearance hole 111 and the lower plate 13 has a second clearance hole 131. The first clearance hole 111 and the second clearance hole 131 are opposite to each other along the second direction. The cleaning module 2 is correspondingly provided with the first clearance hole 111 and the second clearance hole 131. The first clearance hole 111 and the second clearance hole 131 are used to avoid the cleaning module 2.

[0070] The upper plate 11 may have a first clearance hole 111, which can penetrate the upper plate 11 along a second direction and may be located at the center of the upper plate 11. The lower plate 13 may have a second clearance hole 131, which can penetrate the lower plate 13 along a second direction and may be located at the center of the lower plate 13. The first clearance hole 111 and the second clearance hole 131 may be opposite each other along the second direction. The cleaning module 2 may be arranged in a corresponding manner to the first clearance hole 111 and the second clearance hole 131 along the second direction. When the cleaning module 2 rises or falls, the cleaning module 2 may pass through the first clearance hole 111 and the second clearance hole 131. The first clearance hole 111 and the second clearance hole 131 can be used to avoid the cleaning module 2, thereby reducing the probability of interference between the cleaning module 2 and the motion module 1, allowing the cleaning module 2 to rise and fall smoothly, which is beneficial to further improving the reliability of the automatic cleaning device 100.

[0071] In some embodiments of the present invention, such as Figure 1 , Figure 2 and Figure 4 As shown, the cleaning module 2 may include: a movable base 52, a rotary nozzle 53, a three-way solenoid valve 54, and a first drive mechanism 61. The motion module 1 has a fixed base 51 extending along a second direction. The rotary nozzle 53 is rotatably mounted on the movable base 52 about the second direction and extends along the second direction. The three-way solenoid valve 54 has a first interface, a second interface, and a third interface. The rotary nozzle 53 is connected to the first interface, the second interface is used to connect to a dry ice machine, and the third interface is used to connect to an air compressor. The first drive mechanism 61 is mounted on the movable base 52 and is used to drive the rotary nozzle 53 to rotate. The movable base 52 is movably mounted on the fixed base 51 along the second direction to drive the rotary nozzle 53, the three-way solenoid valve 54, and the first drive mechanism 61 to move synchronously.

[0072] The motion module 1 may have a fixed base 51, which extends along a second direction. The fixed base 51 can be fixed to the lower plate 13 by welding, bolting, or other means, and can pass through the first clearance hole 111. A movable base 52 can be assembled with the fixed base 51, and is movably disposed on the fixed base 51. The movable base 52 can move relative to the fixed base 51 along the second direction. As an example, the fixed base 51 may include a fifth drive mechanism 65, which may include a sixth drive motor 651, a third movable sleeve, and a second drive rod, the second drive rod extending along the second direction. The sixth drive motor 651 may have a fourth motor shaft, which can be connected to the second drive rod via a coupling, sleeve, or other means. The sixth drive motor 651 can drive the fourth motor shaft to rotate, and when the fourth motor shaft rotates, it can drive the second drive rod to rotate as well. The third movable sleeve can be fixedly connected to the movable base 52 by snap-fitting, bolting, or other means. The third movable sleeve may have a third threaded hole, which can penetrate the third movable sleeve along the second direction. The second drive rod may be constructed as a screw with a threaded structure on its outer peripheral wall, and the second drive rod can pass through the third threaded hole and be assembled with the third movable sleeve. When the fourth motor shaft rotates, it can drive the second drive rod to rotate together. While the second drive rod rotates, it can drive the third movable sleeve to move along the second direction. The third movable sleeve can drive the movable seat 52 to move along the second direction, thereby achieving the effect of the movable seat 52 moving relative to the fixed seat 51 along the second direction.

[0073] The fifth drive mechanism 65 can drive the movable seat 52 to rise or fall in the second direction. When the cleaning module 2 is working, the fifth drive mechanism 65 can drive the movable seat 52 to fall. After the rotating nozzle 53 falls to the specified height, the rotating nozzle 53 can clean the pressure vessel bolt holes 200. During the cleaning process, the movable seat 52 can move up and down several times within the specified height range, thereby increasing the cleaning range of the rotating nozzle 53 and enhancing the cleaning effect of the cleaning module 2 on the pressure vessel bolt holes 200. After cleaning, the fifth drive mechanism 65 can drive the movable seat 52 to rise, so that the rotating nozzle 53 is above the lower plate 13, allowing the automatic cleaning device 100 to continue moving and reducing the probability of the rotating nozzle 53 colliding with the flange ring 300.

[0074] As an example, such as Figure 1 and Figure 2As shown, a second guide rail 83 can be formed on the side of the fixed base 51 facing the movable base 52 along the first direction, and a second slider 84 can be connected to the side of the movable base 52 facing the fixed base 51 along the first direction. At least one second guide rail 83 can be provided, and the second guide rail 83 can extend along a second direction. At least one second slider 84 can be provided, and the second slider 84 can be integrally formed with the movable base 52 and can be bolted to the movable base 52. The second slider 84 can be assembled with the second guide rail 83, and the second slider 84 can move along the second guide rail 83 along the second direction. By providing the second guide rail 83 and the second slider 84, the second guide rail 83 and the second slider 84 can guide the movable base 52 when it moves along the second direction, thereby improving the stability of the movable base 52 during movement.

[0075] The rotating nozzle 53 can rotate around a second direction and is rotatably mounted on the movable seat 52. The rotating nozzle 53 can extend along the second direction, and the movable seat 52 can form a third clearance hole 521 through which the rotating nozzle 53 can pass. When the cleaning module 2 cleans the pressure vessel bolt hole 200, the rotating nozzle 53 rotates, thereby achieving the effect of cleaning the pressure vessel bolt hole 200 circumferentially. The three-way solenoid valve 54 has a first interface, a second interface, and a third interface. The rotating nozzle 53 can be connected to the first interface, the second interface can be used to connect to a dry ice machine, and the third interface can be used to connect to an air compressor. The three-way solenoid valve 54 can be connected to the rotating nozzle 53, the external dry ice machine pipeline, and the external air compressor pipeline, respectively. The three-way solenoid valve 54 can selectively close one of the second and third ports. When the cleaning module 2 is used to clean the pressure vessel bolt holes 200, the third port is closed, and the first and second ports are open. The three-way solenoid valve 54 connects the rotating nozzle 53 to the dry ice machine, which can inject dry ice into the rotating nozzle 53. The automatic cleaning device 100 uses dry ice to clean the pressure vessel bolt holes 200. After cleaning is completed, the second port is closed, and the first and third ports are open. The three-way solenoid valve 54 connects the rotating nozzle 53 to the air compressor, which can inject dry air into the rotating nozzle 53. The automatic cleaning device 100 uses dry air to expel the residual dry ice gas from the rotating nozzle 53. After a period of time, the third port closes, sealing the external air compressor pipeline. The fifth drive mechanism 65 drives the moving seat 52 to rise, positioning the rotating nozzle 53 above the lower plate 13.

[0076] As an example, such as Figure 4As shown, a nozzle connector 55 can be provided between the three-way solenoid valve 54 and the rotary nozzle 53. The nozzle connector 55 can ensure a tight connection between the three-way solenoid valve 54 and the rotary nozzle 53, which can reduce the probability of dry ice gas or dry air leakage. The rotary nozzle 53 and the nozzle connector 55 can also be provided with a sealing ring 56. The sealing ring 56 can be a V-shaped sealing ring 56, which can achieve dynamic sealing and further reduce the probability of dry ice gas or dry air leakage.

[0077] The first drive mechanism 61 can be used to drive the rotary nozzle 53 to rotate at a constant speed. The first drive mechanism 61 can be located on the movable seat 52. When the movable seat 52 moves relative to the fixed seat 51 in the second direction, the movable seat 52 can drive the rotary nozzle 53, the three-way solenoid valve 54 and the first drive mechanism 61 to move synchronously.

[0078] As an example, such as Figure 4 As shown, the cleaning module 2 may further include a first sleeve 57, which can be connected between the nozzle connector 55 and the movable seat 52. The first sleeve 57 can be fixedly connected to the nozzle connector 55 by welding, bolting, or other methods, and to the movable seat 52 by snap-fitting, bolting, or other methods. The first sleeve 57 can be fitted onto a portion of the rotating nozzle 53, and can be spaced apart from the rotating nozzle 53, forming a gap. A first bearing 58 can be provided in the gap between the first sleeve 57 and the rotating nozzle 53. The outer ring of the first bearing 58 can be fixedly connected to the first sleeve 57, and the inner ring of the first bearing 58 can be fixedly connected to the rotating nozzle 53. The inner and outer rings of the first bearing 58 rotate relative to each other, thereby allowing the rotating nozzle 53 to rotate relative to the first sleeve 57. By setting the first sleeve 57 and the first bearing 58, the risk of exposure of the rotating nozzle 53 can be reduced, which is beneficial to extending the service life of the rotating nozzle 53. Furthermore, by setting the first bearing 58, the rotating nozzle 53 can rotate more smoothly, which is beneficial to further improving the working efficiency and reliability of the cleaning module 2. There can be multiple first bearings 58, and multiple first bearings 58 can be arranged along the second direction, which can further make the rotating nozzle 53 rotate more smoothly. In this embodiment of the application, two first bearings 58 are used as an example for illustration.

[0079] In some embodiments of the present invention, such as Figure 2 and Figure 4As shown, the first drive mechanism 61 may include: a fourth drive motor 611, a first drive pulley 612, a second drive pulley 613, and a transmission belt 614. The first drive pulley 612 and the second drive pulley 613 are rotatably mounted on the movable seat 52. The first drive pulley 612 and the second drive pulley 613 are connected by the transmission belt 614. The fourth drive motor 611 is connected to the first drive pulley 612 to drive the first drive pulley 612 to rotate. The second drive pulley 613 is fixedly connected to the rotating nozzle 53 to drive the rotating nozzle 53 to rotate synchronously.

[0080] Both the first drive pulley 612 and the second drive pulley 613 can be located below the movable base 52. Both the first drive pulley 612 and the second drive pulley 613 can rotate relative to the movable base 52. The second drive pulley 613 can be fixedly connected to the rotating nozzle 53. The first drive pulley 612 and the second drive pulley 613 can be arranged opposite to each other and spaced apart along a first direction. The first drive pulley 612 and the second drive pulley 613 can be connected by a transmission belt 614, which can be tightly fitted onto the first drive pulley 612 and the second drive pulley 613. The fourth drive motor 611 can be connected to the first drive pulley 612. The fourth drive motor 611 can drive the fifth motor shaft to rotate, and when the fifth motor shaft rotates, it can drive the first drive pulley 612 to rotate together. When the first drive pulley 612 rotates, it can drive the transmission belt 614 to move together. The transmission belt 614 then drives the second drive pulley 613 to rotate. The first drive pulley 612, the second drive pulley 613 and the transmission belt 614 move synchronously, which can improve the accuracy and efficiency of transmission.

[0081] The second drive pulley 613 can be fixedly connected to the rotating nozzle 53. When the second drive pulley 613 rotates, it can drive the rotating nozzle 53 to rotate synchronously, thereby enabling the rotating nozzle 53 to rotate.

[0082] As an example, such as Figure 4 As shown, the cleaning module 2 may also be equipped with a dust cover 59, which can be located on the outside of the first drive pulley 612, the second drive pulley 613, and the transmission belt 614. The dust cover 59 provides protection, effectively preventing external dust and impurities from entering the first drive mechanism 61, reducing the probability of dust accumulation on the surfaces of the first drive pulley 612, the second drive pulley 613, and the transmission belt 614, and thus reducing wear on these components. Furthermore, during the operation of the cleaning module 2, the dust cover 59 reduces the probability of dirt splashing onto the first drive mechanism 61 during the cleaning process.

[0083] In some embodiments of the present invention, such as Figure 3 As shown, the automatic cleaning device 100 may further include a detection module 3, which includes a camera 71 and a second drive mechanism 62. The camera 71 is movably mounted on the lower surface of the lower plate 13 via the second drive mechanism 62. The second drive mechanism 62 is used to drive the camera 71 to move to the acquisition position and the avoidance position. When the camera 71 is in the acquisition position, the camera 71 is opposite to the second avoidance hole 131 along the second direction to acquire image information of the pressure vessel bolt hole 200. When the camera 71 is in the avoidance position, the camera 71 is offset from the second avoidance hole 131 along the second direction.

[0084] The detection module 3 may include a camera 71 and a second drive mechanism 62. Both the camera 71 and the drive mechanism 62 can be disposed on the lower surface of the lower plate 13. The camera 71 can move relative to the lower plate 13. The second drive mechanism 62 can drive the camera 71 to move along a first direction, thereby allowing the camera 71 to move to a data acquisition position and an avoidance position. As an example, such as... Figure 3 As shown, the second drive mechanism 62 can be configured as an electric push rod. The second drive mechanism 62 may include a second drive unit 621 and a second push rod 622. The second push rod 622 can extend along a first direction. The second drive unit 621 can be fixed to the lower plate 13 by welding, bolt connection, or other means. The second push rod 622 can be connected to the camera 71 by welding, bolt connection, or other means. The second drive unit 621 can drive the second push rod 622 to extend or retract along the first direction. When the second drive unit 621 drives the second push rod 622 to extend along the first direction, the second push rod 622 can move the camera 71 to the acquisition position. When the second drive unit 621 drives the second push rod 622 to retract along the first direction, the second push rod 622 can move the camera 71 to the avoidance position.

[0085] When the second drive mechanism 62 drives the camera 71 to the acquisition position, the camera 71 can be aligned with the second clearance hole 131 along the second direction. The camera 71 can be equipped with a supplementary light, and the camera 71 can capture images of the cleaned pressure vessel bolt holes 200, thereby achieving the effect of acquiring image information of the pressure vessel bolt holes 200. When the second drive mechanism 62 drives the camera 71 to the clearance position, the camera 71 can be offset from the second clearance hole 131 along the second direction, and the camera 71 can avoid the rotating nozzle 53.

[0086] As an example, the automatic cleaning device 100 may be equipped with a controller, and the detection module 3 may also be equipped with a signal repeater 72. The signal repeater 72 can send the image information collected by the camera 71 to the controller. After the cleaning module 2 finishes its work, the rotating nozzle 53 rises, and the second drive mechanism 62 drives the camera 71 to move to the acquisition position. The camera 71 acquires image information of the cleaned pressure vessel bolt holes 200, and the signal repeater 72 transmits the image information to the controller of the automatic cleaning device 100. The second drive mechanism 62 drives the camera 71 to move to the avoidance position. The deep learning model in the controller generates a cleanliness score based on the dirt distribution characteristics in the pressure vessel bolt holes 200. The controller stores the cleaning result image and score. If the cleanliness score is lower than the threshold, the cleaning process is repeated; otherwise, the system continues to search for the next pressure vessel bolt hole 200.

[0087] As an example, such as Figure 3 As shown, a third guide rail 85 can be formed on the lower surface of the lower plate 13. The third guide rail 85 can be connected to the lower plate 13 by means of bonding, bolting, etc., and can extend along the first direction. The second push rod 622 can be connected to a third slider 86, which can be assembled with the third guide rail 85 and can move within the third guide rail 85 along the first direction. When the second drive unit 621 drives the second push rod 622 to extend or retract along the first direction, the third slider 86 can move within the third guide rail 85, thereby achieving the effect of the camera 71 moving relative to the lower plate 13 along the first direction. By setting the third slider 86 and the third guide rail 85, the movement of the camera 71 can be guided, allowing the camera 71 to move smoothly along the first direction, which is beneficial to improving the reliability of the second drive mechanism 62 and the camera 71.

[0088] In some embodiments of the present invention, the automatic cleaning device 100 may further include: a positioning module 4, which is used to determine the position of the pressure vessel bolt hole 200 so that the cleaning module 2 and the pressure vessel bolt hole 200 are opposite each other in a second direction.

[0089] The positioning module 4 can be used to determine the position of the pressure vessel bolt hole 200. The positioning module 4, together with the motion module 1, can achieve automatic hole-finding function, further improving the working efficiency of the automatic cleaning device 100. By setting the positioning module 4, the motion module 1 can automatically move above the pressure vessel bolt hole 200, allowing the cleaning module 2 and the pressure vessel bolt hole 200 to be aligned in the second direction. The rotating nozzle 53 can smoothly descend into the pressure vessel bolt hole 200, enabling the cleaning module 2 to successfully clean the pressure vessel bolt hole 200, further improving the reliability of the automatic cleaning device 100.

[0090] In some embodiments of the present invention, such as Figure 3 As shown, the positioning module 4 may include: multiple laser sensors 91, which are disposed on the lower surface of the motion module body 10. The multiple laser sensors 91 are used to detect the pressure vessel bolt hole 200 so that the cleaning module 2 and the pressure vessel bolt hole 200 are opposite each other in the second direction.

[0091] Multiple laser sensors 91 can be disposed on the main body 10 of the motion module, and can be evenly disposed on the lower surface of the lower plate 13. The laser sensors 91 can be fixedly connected to the lower plate 13 by welding, bolting, or other methods. The laser sensors 91 can be used to detect the position of the pressure vessel bolt holes 200. The laser sensors 91 can be installed on the edge of the second clearance hole 131, and can be arranged sequentially along the circumference of the second clearance hole 131. The laser sensors 91 can be used to determine whether the second clearance hole 131 is opposite to the pressure vessel bolt holes 200 in a second direction, i.e., whether the cleaning module 2 is opposite to the pressure vessel bolt holes 200 in a second direction.

[0092] As an example, the laser sensor 91 can be configured as a laser rangefinder. The laser rangefinder emits a laser pulse downwards and measures the time it takes for the pulse to travel from emission to reflection from the target location and back to the laser sensor 91. Combining this with the speed of laser propagation in air, the distance from the laser sensor 91 to the target location is calculated. That is, the laser sensor 91 can determine whether the point directly below it falls within the pressure vessel bolt hole 200 or on the flange ring top surface 310 through laser rangefinding. If the distance from the laser sensor 91 to the target location is greater than a specified value, the laser pulse is emitted into the pressure vessel bolt hole 200; if the distance is less than the specified value, the laser pulse is emitted onto the flange ring top surface 310. This allows for the use of multiple laser sensors 91 to detect the position of the pressure vessel bolt hole 200.

[0093] The laser sensor 91 has a laser emission point for emitting laser pulses. The diameter of the second clearance hole 131 can be smaller than the diameter of the pressure vessel bolt hole 200. The diameter of the circle containing the laser emission points of the multiple laser sensors 91 is smaller than the diameter of the pressure vessel bolt hole 200. When the multiple laser sensors 91 emit laser pulses downwards, if the distance from the multiple laser sensors 91 to the target position is greater than a specified value, the automatic cleaning device 100 reaches the target cleaning position, and the cleaning module 2 and the pressure vessel bolt hole 200 are aligned in the second direction. If the distance from the multiple laser sensors 91 to the target position is less than a specified value, the cleaning module 2 is located above the flange ring top surface 310, the automatic cleaning device 100 has not reached the target cleaning position, and the automatic cleaning device 100 needs to continue moving. If the distance from some of the multiple laser sensors 91 to the target position is always less than a specified value during a certain stroke, and the distance from another portion of the multiple laser sensors 91 to the target position is always greater than a specified value during a certain stroke, it indicates that the automatic cleaning device 100 has yawed during the movement and needs to be repositioned until the laser emission points of the multiple laser sensors 91 are all opposite to the pressure vessel bolt holes 200 in the second direction.

[0094] By setting multiple laser sensors 91, the position of the pressure vessel bolt hole 200 can be determined, so that the cleaning module 2 and the pressure vessel bolt hole 200 are opposite each other in the second direction, so that the automatic cleaning device 100 can be used to clean the pressure vessel bolt hole 200.

[0095] In some embodiments of the present invention, the positioning module 4 may further include: a positioning algorithm, which, in conjunction with the laser sensor 91, enables the automatic cleaning device 100 to locate the position of the pressure vessel bolt hole 200, and, in conjunction with the positioning algorithm and the laser sensor 91, monitors the motion error of the automatic cleaning device 100 on the flange ring 300 in real time, and controls the automatic cleaning device 100 to automatically return to the correct position when the automatic cleaning device 100 has a motion error.

[0096] The positioning algorithm can be used to obtain the motion trajectory of the motion module 1. The positioning algorithm can work in conjunction with the laser sensor 91 to enable the automatic cleaning device 100 to find the position of the pressure vessel bolt hole 200. The positioning algorithm can also transmit data to the controller. The positioning algorithm can work with the laser sensor 91 to monitor the motion error of the automatic cleaning device 100 on the flange ring 300 in real time, thereby determining whether the automatic cleaning device 100 can move to the target cleaning position. When the automatic cleaning device 100 has a motion error, the positioning algorithm can work with the laser sensor 91 to control the automatic cleaning device 100 to adjust its position and automatically return to the correct position. This is beneficial to achieving the effect of the automatic cleaning device 100 automatically finding the position of the pressure vessel bolt hole 200.

[0097] As an example, during the movement of the automatic cleaning device 100, the positioning algorithm for obtaining the motion trajectory of the motion module 1 may include the following steps:

[0098] S1. Initialize the coordinate system.

[0099] In this system, the center of the second clearance hole 131 is preset as the origin, establishing a two-dimensional coordinate system. Components fixedly connected to the lower plate 13 and upper plate 11 each have preset coordinate values. The initial coordinates of each component are calculated based on the distance between each component and the center of the second clearance hole 131. The coordinates of the connection points between the two first rotating arms 21 and their corresponding first drive motors 41 can be denoted as A1 and A2, respectively. The rotation angles α1 and α2 of the corresponding first rotating arms 21 are read by angle sensors. The coordinates of the connection points between the two second rotating arms 22 and their corresponding connectors 23 can be expressed as follows:

[0100] B i =A i +(Lcosα i ,Lsinα i i = 1, 2 (1)

[0101] In formula (1), B1 and B2 are the coordinates of the connection points between the two second rotating arms 22 and the corresponding connectors 23, and L is the length of the first rotating arm 21. Similarly, by reading the rotation angles β1 and β2 of the connector 23 from the angle sensor, the coordinates of the magnetic roller 24 on the connector 23 can be represented:

[0102]

[0103] In formula (2), C 11 With C 12 Let C be the coordinates of a pair of magnetic rollers 24 on one of the connectors 23. 21 With C 22 Let D1 and D2 be the coordinates of a pair of magnetic rollers 24 on another connector 23, where l is the distance from the center of connector 23 to the center of magnetic roller 24. The coordinates of the two horizontal traveling wheels 31 can be directly obtained from the preset coordinate values ​​and the extension of the first push rod 632.

[0104] S2. Calculate the center of the initial trajectory circle.

[0105] Among them, a circle 'a' is defined by the center of the four magnetic rollers 24, circle 'b' is the circle containing the inner surface 320 of the flange ring, circle 'c' is the circle containing the center of the pressure vessel bolt hole 200, and circle 'd' is the circle containing the outer surface 330 of the flange ring. Circles a-d form a series of concentric circles. The center coordinates E(x,y) of circle a can be expressed as:

[0106]

[0107] In formula (3), x ij C ij x-coordinate, y ij C ij The ordinate of the circle is given. Based on the coordinates of the center E and the coordinates D1 and D2 of the horizontal traveling wheel 31, a circle e can be determined, and circle e and circle d are also concentric circles. Given the center E, the radii of circles a and e can be determined from the coordinates of the magnetic wheel 24 and the horizontal traveling wheel 31. Then, based on the radii of the magnetic wheel 24 and the horizontal traveling wheel 31, the trajectory coordinates of circles b and d can be determined.

[0108] S3. Calculate the current position.

[0109] When the motion module body 10 moves, the travel s of the horizontal traveling wheel 31 on the circle e can be converted into the radian θ of the corresponding arc to obtain the current position coordinates P(x,y), thereby realizing the hole-finding function of the automatic cleaning device 100 on the top surface 310 of the flange ring, as detailed below:

[0110]

[0111] S4, Position Error Monitoring.

[0112] During operation of the automatic cleaning device 100, the connector 23 connected to the second rotating arm 22 can still rotate. β1 and β2 are variable, and the coordinates E'(x',y') of the real-time trajectory center will continuously change. The real-time position error can be reflected by calculating the deviation value Δd between E and E'. A preset deviation threshold d0 is set. If Δd > d0, the error is considered to accumulate. When the accumulated error S > S0, the automatic cleaning device 100 is considered to have deviated from the trajectory, as detailed below:

[0113]

[0114]

[0115] In formula (6), T is the duration of Δd > d0. During each timing cycle, if Δd ≤ d0 lasts for a period of time and S does not reach the threshold S0, the timing stops and T and S are reset to zero. If S > S0, the controller issues a stop command to motion module 1 and then adjusts its position.

[0116] Therefore, by setting a positioning algorithm, the movement trajectory of the automatic cleaning device 100 can be monitored in real time, and it can be determined whether the automatic cleaning device 100 is yawing. When the positioning algorithm detects that the automatic cleaning device 100 is yawing, the controller can issue a stop command to the motion module 1. The controller can control the motion module 1 to automatically return to center. The first drive motor 41 can drive the horizontal rotating arm 20 to rotate, and the second drive motor 42 can drive the horizontal traveling wheel 31 to rotate, so that the motion module body 10 moves on the top surface 310 of the flange ring. When the laser emission points of multiple laser sensors 91 are aligned with the pressure vessel bolt holes 200 in the second direction, the automatic cleaning device 100 returns to center. The controller records the current position coordinates P(x,y) and calculates the number of pressure vessel bolt holes 200 that the automatic cleaning device 100 has already cleaned, which can reduce the probability of repeatedly cleaning the pressure vessel bolt holes 200. The positioning algorithm re-establishes the coordinate system, and the motion module 1 starts moving again. The positioning algorithm continues to work with the laser sensor 91 to monitor the motion error of the automatic cleaning device 100 on the flange ring 300 in real time, thereby determining whether the automatic cleaning device 100 is yawing.

[0117] In this embodiment, the motion module 1 includes a motion module body 10, horizontal rotating arms 20, and a support frame 30. There are two horizontal rotating arms 20 and two first drive motors 41, which can selectively drive the corresponding horizontal rotating arms 20 to rotate. Each horizontal rotating arm 20 has a corresponding connector 23, and each connector 23 has two magnetic wheels 24 on its side away from the horizontal rotating arm 20. The support frame 30 has two horizontally moving wheels 31 facing each other along a third direction. A third drive mechanism 63 drives the support frame 30 to move along a first direction. The third drive mechanism 63 includes a first drive part 631 and a first push rod 632, which can extend or retract along the first direction. The motion module body 10 includes an upper plate 11, a lifting structure 12, and a lower plate 13. The lifting structure 12 is connected between the upper plate 11 and the lower plate 13, and can drive the upper plate 11 to synchronously raise and lower the horizontal rotating arms 20 and the support frame 30. The lower surface of the lower plate 13 may be provided with four rollers 14. Two rollers 14 in the roller group on the side away from the horizontal rotating arm 20 are respectively connected to the corresponding third drive motor 43, and the four rollers 14 drive the motion module body 10 to move.

[0118] The positioning module 4 includes four laser sensors 91 and a positioning algorithm. The laser sensors 91 determine whether the point directly below falls within the pressure vessel bolt hole 200 or on the flange ring top surface 310 through laser ranging. The four laser emission points of the four laser sensors 91 are distributed on a circle with a radius smaller than that of the pressure vessel bolt hole 200. The positioning algorithm can calculate the current position of the automatic cleaning device 100 based on the rotation angle of the horizontal rotating arm 20 and the connecting head 23, the extension of the first push rod 632, and the stroke of the horizontal traveling wheel 31.

[0119] The cleaning module 2 includes a movable seat 52, a rotary nozzle 53, a three-way solenoid valve 54, a first drive mechanism 61, a V-shaped sealing ring 56, and a fifth drive mechanism 65. The first drive mechanism 61 includes a fourth drive motor 611, a first drive pulley 612, a second drive pulley 613, and a transmission belt 614. The fifth drive mechanism 65 can drive the movable seat 52 to rise and fall. The first drive mechanism 61 drives the rotary nozzle 53 to rotate through belt drive. The rotary nozzle 53 achieves dynamic sealing through the V-shaped sealing ring 56. The three-way solenoid valve 54 is connected to the rotary nozzle 53, the external dry ice machine pipeline, and the external air compressor pipeline, respectively.

[0120] The detection module 3 includes a camera 71, a second drive mechanism 62, and a signal repeater 72. The camera 71 is equipped with a supplementary light. The second drive mechanism 62 drives the camera 71 to perform reciprocating linear motion along the first direction. The image is transmitted to the controller by the signal repeater 72. The deep learning model in the controller generates a cleanliness score based on the distribution characteristics of dirt in the bolt holes 200 of the pressure vessel. The controller stores the cleaning result image and score. If the cleanliness score is lower than the threshold, the cleaning process is repeated; otherwise, the next main bolt hole is searched.

[0121] Before the automatic cleaning device 100 operates, it is manually placed on the top surface 310 of the flange ring of the pressure vessel. Multiple laser sensors 91 assist in aligning the cleaning module 2 with any pressure vessel bolt hole 200 along a second direction. The lifting structure 12 drives the upper plate 11, causing the horizontal rotating arm and support frame 30 to descend synchronously. The magnetic roller 24 and horizontal traveling wheel 31 descend to below the lowest plane of the flange ring 300. Driven by the first drive motor 41, the horizontal rotating arm 20 approaches the inner side 320 of the flange ring. After the magnetic roller 24 contacts the inner side 320, the brake of the first drive motor 41 locks the rotation of the horizontal rotating arm 20, preventing it from rotating further. The two first drive motors 41 rotate at the same speed. The third drive mechanism 63 drives the support frame 30 to move along a first direction, causing the horizontal traveling wheel 31 to contact the outer side 330 of the flange ring, completing the initial positioning. The connector 23 can always rotate freely.

[0122] After initial positioning, the automatic cleaning device 100 travels on the top surface 310 of the flange ring, automatically finding the hole with the assistance of the positioning algorithm and the laser sensor 91. The positioning algorithm can monitor the position of the automatic cleaning device 100 in real time based on the rotation angle of the horizontal rotating arm 20 and the connector 23, while the positioning algorithm and the laser sensor 91 monitor the travel error of the automatic cleaning device 100 in real time. During the movement, if all four laser emission points of the four laser sensors 91 fall into the pressure vessel bolt hole 200, it indicates that the target cleaning position has been reached. If the cumulative error calculated by the positioning algorithm exceeds the threshold, or if the laser emission points of two laser sensors 91 on the same side fail to fall into the pressure vessel bolt hole 200 within a certain distance, it indicates that the automatic cleaning device 100 has yawed. When the automatic cleaning device 100 makes a walking error, the horizontal rotating arm 20 releases its rotation lock, and the horizontal rotating arm 20 and the horizontal walking wheel 31 work together to adjust the position of the automatic cleaning device 100. The initial positioning process is repeated until the laser emission points of the four laser sensors 91 all fall into the pressure vessel bolt holes 200, and the automatic cleaning device 100 automatically returns to the correct position.

[0123] After the automatic cleaning device 100 reaches the target cleaning position, it begins the cleaning operation. The fifth drive mechanism 65 drives the moving seat 52 to descend. When the rotating nozzle 53 descends to the designated height, the fourth drive motor 611 drives the rotating nozzle 53 to rotate at a constant speed through the cooperation of the first drive pulley 612, the second drive pulley 613, and the transmission belt 614. The three-way solenoid valve 54 connects to the external dry ice machine pipeline, using dry ice to clean the pressure vessel bolt holes 200. During the cleaning process, the moving seat 52 reciprocates several times within the designated height range. After cleaning, the three-way solenoid valve 54 closes the external dry ice machine pipeline and connects to the external air compressor pipeline to use dry air to expel the residual dry ice gas in the rotating nozzle 53. After a period of time, the external air compressor pipeline is closed, and the fifth drive mechanism 65 drives the moving seat 52 to rise, so that the rotating nozzle 53 is located above the lower plate 13.

[0124] After the cleaning operation is completed, the second drive mechanism 62 drives the camera 71 with a supplementary light to move to the center position of the second clearance hole 131 of the lower plate 13. The camera 71 captures the cleaned pressure vessel bolt hole 200. The second drive mechanism 62 drives the camera 71 to reset. The image information is transmitted to the controller by the signal repeater 72. The deep learning model in the controller generates a cleanliness score based on the dirt distribution characteristics in the pressure vessel bolt hole 200. If the cleanliness score is lower than the threshold, the cleaning operation process is repeated; otherwise, the search for the next main bolt hole continues.

[0125] Once the positioning algorithm calculates that the automatic cleaning device 100 has traveled 360° along the flange ring 300, that is, after the automatic cleaning device 100 has cleaned all the pressure vessel bolt holes 200, the current work is completed. The first drive motor 41 and the third drive mechanism 63 are reset, and the lifting structure 12 rises, so that the height of the horizontal rotating arm 20 and the horizontal traveling wheel 31 is above the multiple rollers 14, which facilitates the transportation of the automatic cleaning device 100.

[0126] Other configurations and operations of the automatic cleaning device 100 for the bolt holes 200 of the pressure vessel according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0127] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0128] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An automatic cleaning device for bolt holes in pressure vessels, characterized in that: include: A motion module (1) includes a motion module body (10), a horizontal rotating arm (20), and a support frame (30). The horizontal rotating arm (20) and the support frame (30) are both located on the motion module body (10), and are arranged and spaced apart along a first direction. The horizontal rotating arm (20) is selectively rotatably mounted on the motion module (1) along a second direction, which is the height direction of the automatic cleaning device (100). The lower end of the horizontal rotating arm (20) is provided with a connector (23) rotatably mounted along the second direction. Along the second direction, the connector (23) has a rotatable connector (23) on the side opposite to the horizontal rotating arm (20) along the second direction. Rotate the magnetic chuck (24), which is used to abut against the inner side (320) of the flange ring. The support frame (30) is movably disposed on the motion module (1) along the first direction. The support frame (30) is provided with a horizontal traveling wheel (31) that is rotatable around the second direction. The horizontal traveling wheel (31) is used to abut against the outer side (330) of the flange ring. The motion module body (10) is used to drive the horizontal rotating arm (20) and the support frame (30) to move along the extension direction of the flange ring (300) on the top surface (310) of the flange ring. The motion module body (10) can drive the horizontal rotating arm (20) and the support frame (30) to rise and fall synchronously. The first direction and the second direction are perpendicular. A cleaning module (2) is movably disposed on the motion module (1) along the second direction. When the motion module (1) drives the cleaning module (2) to move so that the cleaning module (2) and the pressure vessel bolt hole (200) are opposite each other along the second direction, the cleaning module (2) can clean the pressure vessel bolt hole (200).

2. The automatic cleaning device according to claim 1, characterized in that, The motion module (1) has a first drive motor (41), and the horizontal rotating arm (20) includes a first rotating arm (21) and a second rotating arm (22) fixedly connected. The first rotating arm (21) extends in the horizontal direction, and the two ends of the first rotating arm (21) are respectively connected to the first drive motor (41) and the second rotating arm (22). The second rotating arm (22) extends in the second direction, and the lower end of the second rotating arm (22) is connected to the magnetic chuck (24). The first drive motor (41) is used to drive the horizontal rotating arm (20) to rotate.

3. The automatic cleaning device according to claim 1, characterized in that, The support frame (30) has a second drive motor (42), which is connected to the horizontal walking wheel (31). The second drive motor (42) is used to drive the horizontal walking wheel (31) to rotate.

4. The automatic cleaning device according to claim 1, characterized in that, The motion module body (10) includes: an upper plate (11), a lifting structure (12) and a lower plate (13). The upper plate (11) and the lower plate (13) are spaced apart along the second direction. The lifting structure (12) is connected between the upper plate (11) and the lower plate (13). The horizontal rotating arm (20) and the support frame (30) are disposed on the upper plate (11). The lifting structure (12) is used to drive the upper plate (11) to drive the horizontal rotating arm (20) and the support frame (30) to lift synchronously.

5. The automatic cleaning device according to claim 4, characterized in that, The lower plate (13) is provided with a plurality of rollers (14) to enable the motion module body (10) to move along the extension direction of the flange ring (300); Multiple rollers (14) form multiple roller groups, which are arranged along the first direction. Each roller group includes multiple rollers (14). The multiple rollers (14) in each roller group are arranged along a third direction. Along the first direction, the rollers (14) on the side away from the horizontal rotating arm (20) are respectively connected to a corresponding third drive motor (43). The third drive motor (43) is fixed to the lower plate (13) and is used to drive the corresponding rollers (14) to roll. The first direction, the second direction and the third direction are perpendicular to each other.

6. The automatic cleaning device according to claim 4, characterized in that, The upper plate (11) has a first clearance hole (111), and the lower plate (13) has a second clearance hole (131). The first clearance hole (111) and the second clearance hole (131) are opposite to each other along the second direction. The cleaning module (2) is provided corresponding to the first clearance hole (111) and the second clearance hole (131). The first clearance hole (111) and the second clearance hole (131) are used to avoid the cleaning module (2).

7. The automatic cleaning device according to claim 1, characterized in that, The cleaning module (2) includes: a movable seat (52), a rotary nozzle (53), a three-way solenoid valve (54), and a first drive mechanism (61). The motion module (1) has a fixed seat (51) extending along the second direction. The rotary nozzle (53) is rotatably disposed on the movable seat (52) about the second direction and extends along the second direction. The three-way solenoid valve (54) has a first interface, a second interface, and a third interface. The rotary nozzle (53) is connected to the first interface. The second interface is used to connect to a dry ice machine. The third interface is used to connect to an air compressor. The first drive mechanism (61) is disposed on the movable seat (52) and is used to drive the rotary nozzle (53) to rotate. The movable seat (52) is movably disposed on the fixed seat (51) along the second direction to drive the rotary nozzle (53), the three-way solenoid valve (54), and the first drive mechanism (61) to move synchronously.

8. The automatic cleaning device according to claim 7, characterized in that, The first drive mechanism (61) includes: a fourth drive motor (611), a first drive pulley (612), a second drive pulley (613), and a transmission belt (614). The first drive pulley (612) and the second drive pulley (613) are rotatably mounted on the movable seat (52). The first drive pulley (612) and the second drive pulley (613) are connected by the transmission belt (614). The fourth drive motor (611) is connected to the first drive pulley (612) to drive the first drive pulley (612) to rotate. The second drive pulley (613) is fixedly connected to the rotating nozzle (53) to drive the rotating nozzle (53) to rotate synchronously.

9. The automatic cleaning device according to claim 6, characterized in that, Also includes: The detection module (3) includes a camera (71) and a second drive mechanism (62). The camera (71) is movably disposed on the lower surface of the lower plate (13) via the second drive mechanism (62). The second drive mechanism (62) is used to drive the camera (71) to move to the acquisition position and the avoidance position. When the camera (71) is in the acquisition position, the camera (71) and the second avoidance hole (131) are opposite each other along the second direction to acquire image information of the pressure vessel bolt hole (200). When the camera (71) is in the avoidance position, the camera (71) and the second avoidance hole (131) are offset along the second direction.

10. The automatic cleaning device according to any one of claims 1-9, characterized in that, Also includes: Positioning module (4) is used to determine the position of the pressure vessel bolt hole (200) so that the cleaning module (2) and the pressure vessel bolt hole (200) are opposite each other in the second direction.

11. The automatic cleaning device according to claim 10, characterized in that, The positioning module (4) includes: multiple laser sensors (91), which are disposed on the lower surface of the motion module body (10). The multiple laser sensors (91) are used to detect the pressure vessel bolt hole (200) so that the cleaning module (2) and the pressure vessel bolt hole (200) are opposite to each other along the second direction.

12. The automatic cleaning device according to claim 11, characterized in that, The positioning module (4) further includes a positioning algorithm, which, in conjunction with the laser sensor (91), enables the automatic cleaning device (100) to locate the position of the pressure vessel bolt hole (200). The positioning algorithm, in conjunction with the laser sensor (91), monitors the motion error of the automatic cleaning device (100) on the flange ring (300) in real time. In the event of motion error in the automatic cleaning device (100), the automatic cleaning device (100) is controlled to automatically return to the correct position.

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