Robot cleaning arm for cleaning interior of chemical pipeline

Abstract

The utility model relates to the technical field of chemical equipment cleaning, in particular to a robot cleaning arm for cleaning the interior of a chemical pipeline, which comprises a bottom frame, a cleaning mechanism, a driving assembly, a water spraying assembly and a walking mechanism. The bottom frame is connected with an external walking mechanism to move in the pipeline, the cleaning mechanism comprises a swinging frame capable of swinging and a cleaning sponge, and the cleaning mechanism is matched with a fixing disc through a first compression spring and a sliding block to adapt to cleaning of pipelines with different pipe diameters; gear transmission of the driving assembly supplies energy to the cleaning mechanism, the water spraying assembly sprays water to wet the pipeline to assist cleaning, and the walking mechanism guarantees flexible and stable movement of the cleaning arm through walking rods and walking wheels under the action of torsional springs. In addition, the scraping plate on the rotating seat can deeply remove stubborn dirt under the action of the fixed pressure spring. The cleaning arm effectively solves the problems that traditional cleaning is high in safety risk, low in efficiency, poor in adaptability and the like, efficient, comprehensive and safe chemical pipeline cleaning is achieved, and universality is high.

Description

Technical Field

[0001] This application relates to the field of chemical equipment cleaning technology, and in particular to a robotic cleaning arm for cleaning the inside of chemical pipelines. Background Technology

[0002] In chemical production, chemical pipelines serve as crucial channels for material transportation, and their internal cleanliness directly impacts the quality and efficiency of chemical production. Due to the diverse and complex nature of the materials involved in chemical production, various types of dirt, impurities, and residual chemical materials easily accumulate on the inner walls of pipelines during transport. If these deposits are not cleaned promptly, they can not only affect the pipeline's transport capacity and reduce production efficiency, but may also react chemically with subsequently transported materials, leading to a decline in product quality and even causing safety accidents.

[0003] Traditional mechanical cleaning utilizes simple mechanical devices, such as a rotating cleaning head fixed to one end of the pipe. A drive mechanism external to the pipe rotates the head, cleaning the inner wall. However, this method has significant drawbacks. Because chemical pipelines vary in diameter, traditional mechanical cleaning devices are ill-suited for different pipe diameters, exhibiting poor versatility. Furthermore, their cleaning mechanisms lack flexibility, failing to effectively remove dirt from every nook and cranny of the pipe's inner wall, resulting in unsatisfactory cleaning outcomes. Moreover, the lack of wetting the pipe's inner wall during cleaning makes it difficult to remove stubborn dirt, further impacting the cleaning quality.

[0004] To address this issue, a robotic cleaning arm for cleaning the interior of chemical pipelines has been invented to solve the problems mentioned in the background art. Utility Model Content

[0005] The purpose of this utility model is to provide a robotic cleaning arm for cleaning the inside of chemical pipelines, aiming to solve the problems of high safety risks, low cleaning efficiency, poor cleaning quality, and insufficient equipment versatility in existing methods of cleaning the inside of chemical pipelines. By designing a reasonable structure, it can achieve efficient, comprehensive, and safe cleaning of the inner wall of chemical pipelines, improve cleaning efficiency and quality, and reduce the labor intensity and safety risks of operators.

[0006] The robotic cleaning arm for cleaning the interior of chemical pipelines provided in this application adopts the following technical solution: it includes a base frame, wherein the base frame is used to connect with the external walking mechanism of the robot to drive the cleaning arm to move inside the chemical pipeline. The base frame is provided with a cleaning mechanism that can clean the inside of the pipeline. The cleaning mechanism includes multiple swingable frames, and a cleaning sponge is provided on the side of the swing frame near the inner wall of the pipeline.

[0007] Optionally, a fixed rod is provided in the middle of the base frame, and a fixed plate is provided on the fixed rod. Several protrusions are provided on the periphery of the fixed plate. A rotating cylinder is rotatably connected to the base frame. The swing frame and the rotating cylinder are hinged. A first compression spring is provided on the side of the swing frame near the rotating cylinder. A sliding block is provided at the bottom of the first compression spring. The sliding block can slide on the rotating cylinder in its radial direction. The side of the sliding block near the fixed plate is in contact with the fixed plate. The sliding block can contact the protrusions.

[0008] Optionally, the fixed plate is provided with a drive assembly that can drive the rotating cylinder to rotate. The drive assembly is used to drive the cleaning mechanism to clean the pipe. The drive assembly includes a drive motor, and the output end of the drive motor is provided with a drive gear. A driven internal gear is coaxially provided on the rotating cylinder, and the drive gear meshes with the driven internal gear.

[0009] Optionally, the base frame is equipped with a water spraying assembly for spraying water onto the inner wall of the pipe. The water spraying assembly includes an annular water tank, which is fixed on the base frame. A water pump is connected to the water tank, and several nozzles are arranged around the annular water tank. The outlet of the water pump is connected to the nozzles.

[0010] Optionally, a traveling mechanism is provided on both sides of the base frame. The traveling mechanism includes a fixed seat, which is fixed to one end of the base frame. Multiple traveling rods are hinged to the fixed seat. Each traveling rod is provided with a hinge shaft and is hinged to the fixed seat through the hinge shaft. A torsion spring is fitted on the hinge shaft. The other end of the torsion spring is fixedly connected to the fixed seat. A traveling wheel is rotatably connected to the other end of the traveling rod.

[0011] Optionally, a rotating seat is provided on one side of the rotating cylinder, and a plurality of fixing grooves are provided on the periphery of the rotating seat. A sliding rod is provided in the fixing groove, and a scraper is provided on the side of the sliding rod near the inner wall of the pipe. A fixing spring is provided at the other end of the sliding rod, and the other end of the fixing spring is fixed in the fixing groove.

[0012] In summary, this application includes the following beneficial technical effects:

[0013] 1. High-efficiency cleaning: The multiple swingable frames and cleaning sponges in the cleaning mechanism can closely adhere to the inner wall of the pipe, and under the drive of the rotating drum, they can achieve all-round cleaning of the inner wall of the pipe, effectively removing dirt and improving cleaning efficiency and quality.

[0014] 2. Adaptive Pipe Diameter: The swing frame, through the cooperation of the first compression spring, the sliding block and the protrusion on the fixed plate, automatically adapts to changes in the inner diameter of the pipe and adjusts the swing amplitude. At the same time, the elastic deformation of the first compression spring generates extrusion force, which drives the cleaning mechanism to closely fit the inner wall of the pipe, realizing the extrusion cleaning of the inner wall of the pipe. This not only enables the equipment to adapt to chemical pipes of different diameters, but also effectively improves the cleaning effect and significantly enhances the versatility and practicality of the equipment.

[0015] 3. Stable drive: The drive assembly adopts a meshing transmission method of drive motor, drive gear and driven internal gear, which ensures smooth transmission and provides stable driving force for the cleaning mechanism, ensuring continuous and efficient cleaning work.

[0016] 4. Excellent auxiliary cleaning effect: The ring-shaped water tank, water pump and nozzle of the water spray component can spray water to wet the inner wall of the pipe during the cleaning process, making it easier for stubborn dirt to be removed by the cleaning sponge, and further improving the cleaning effect.

[0017] 5. Flexible movement: The walking mechanism on both sides of the base frame, through the cooperation of walking rods, torsion springs and walking wheels, can adapt to the complex terrain inside the pipeline, ensuring that the cleaning arm moves stably and flexibly inside the pipeline, and ensuring that the cleaning work fully covers all parts of the pipeline.

[0018] 6. Deep cleaning: The sliding rod, fixed spring and scraper can be used to deeply scrape the inner wall of the pipe to remove stubborn dirt and impurities, further improving the cleaning quality. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the device. Figure I ;

[0020] Figure 2 This is a schematic diagram of the overall structure of the device. Figure II ;

[0021] Figure 3 This is the front view of the device;

[0022] Figure 4 This is a cross-sectional view of the overall structure of the device. Figure I ;

[0023] Figure 5 This is a cross-sectional view of the overall structure of the device. Figure II ;

[0024] Figure 6 This is a side view of the device;

[0025] Figure 7 This is a cross-sectional view of the overall structure of the device. Figure III ;

[0026] The components are as follows: 1. Base frame; 2. Cleaning mechanism; 3. Swing frame; 4. Cleaning sponge; 5. Fixed rod; 6. Fixed plate; 7. Protrusion; 8. Rotating cylinder; 9. First compression spring; 10. Sliding block; 11. Drive assembly; 12. Drive motor; 13. Drive gear; 14. Driven internal gear; 15. Water spray assembly; 16. Water tank; 17. Water pump; 18. Spray head; 19. Walking mechanism; 20. Fixed seat; 21. Walking rod; 22. Torsion spring; 23. Walking wheel; 24. Rotating seat; 25. Fixed groove; 26. Sliding rod; 27. Scraper; 28. Fixed compression spring. Detailed Implementation

[0027] The present application will be further described in detail below with reference to the accompanying drawings. In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present utility model.

[0028] Reference Figure 1 , Figure 4 , Figure 5 One embodiment is shown: the cleaning arm consists of a base frame 1 and a cleaning mechanism 2. The base frame 1, as a basic component, is securely connected to the robot's external walking mechanism through welding, bolts, or other methods, allowing it to move within the chemical pipeline under the drive of the external walking mechanism. The cleaning mechanism 2 is mounted on the base frame 1 and includes multiple swing frames 3. The swing frames 3 are movably connected to the base frame 1 through a first compression spring 9, a sliding block 10, and a protrusion 7 on a fixed plate 6. This design allows the swing frames 3 to automatically adjust their swing amplitude according to changes in the pipeline's inner diameter, and also utilizes the compressive force generated by the elastic deformation of the first compression spring 9 to drive the cleaning mechanism 2 to tightly adhere to the pipeline's inner wall. A cleaning sponge 4 is installed on the side of the swing frame 3 closest to the pipeline's inner wall using adhesive, screws, or other methods. In this embodiment, when the cleaning arm moves within the pipeline, the swing frames 3 can flexibly swing according to the shape and diameter changes of the pipeline's inner wall. Under the compressive force of the first compression spring 9, the cleaning sponge 4 is tightly compressed and adheres to the pipeline's inner wall, removing dirt through contact friction.

[0029] The implementation principle of the above embodiment is as follows: the base frame 1 moves by means of the connection with the external walking mechanism, which drives the cleaning mechanism 2 into the pipeline. The swing frame 3 adjusts the swing amplitude and generates squeezing force under the combined action of the change of space in the pipeline and the first compression spring 9. By using the squeezing friction between the cleaning sponge 4 and the inner wall of the pipeline, the dirt on the inner wall of the pipeline is efficiently removed. This not only enables the equipment to adapt to chemical pipelines of different diameters, but also effectively improves the cleaning effect and significantly enhances the versatility and practicality of the equipment.

[0030] Reference Figure 4 , Figure 5 One embodiment is shown as follows: In the middle of the base frame 1, the fixing rod 5 is fixed by welding. The fixing plate 6 is tightly fitted onto the fixing rod 5 and fixed by means of interference fit, key connection, etc., so that it is stably located in the middle position of the base frame 1. A bearing seat is set at the corresponding position on the base frame 1. The rotating cylinder 8 is installed in the bearing seat through the bearing to realize the rotational connection with the base frame 1. One end of the swing frame 3 is hinged to the rotating cylinder 8 through the hinge shaft, so that the swing frame 3 can swing relative to the rotating cylinder 8 around the hinge shaft. On the side of the swing frame 3 near the rotating cylinder 8, the first compression spring 9 is installed by welding, screw fixing, etc. The bottom of the first compression spring 9 is fixedly connected to the sliding block 10. The sliding block 10 and the rotating cylinder 8 are provided with a sliding groove and slider cooperation structure, so that the sliding block 10 can slide on the rotating cylinder 8 in its radial direction. The side of the sliding block 10 near the fixing plate 6 is in direct contact with the surface of the fixing plate 6. In this embodiment, when the rotating cylinder 8 rotates, the sliding block 10 contacts the protrusion 7 on the fixed plate 6 under the action of the first compression spring 9. The protrusion 7 pushes the sliding block 10 to change the swing amplitude of the swing frame 3, thereby adapting to pipes of different diameters. At the same time, the elastic effect of the first compression spring 9 ensures that the cleaning sponge 4 always maintains a certain pressure with the inner wall of the pipe, thereby improving the cleaning effect.

[0031] The implementation principle of the above embodiment is as follows: During the rotation of the rotating cylinder 8, the sliding block 10 interacts with the protrusion 7 on the fixed plate 6 under the preload of the first compression spring 9. The push of the protrusion 7 causes the sliding block 10 to drive the swing frame 3 to change the swing angle, so as to realize the adaptive adjustment of the cleaning mechanism 2 to pipes of different diameters. The first compression spring 9 maintains the contact pressure between the cleaning sponge 4 and the inner wall of the pipe, ensuring the efficient operation of the cleaning work.

[0032] Reference Figure 4 , Figure 7One embodiment is shown as follows: A drive motor 12 is mounted on the fixed plate 6 via brackets, bolts, etc. The output shaft of the drive motor 12 is fixedly mounted with a drive gear 13 via key connection, coupling connection, etc. A driven internal gear 14 is coaxially fixedly mounted on the inner wall of the rotating cylinder 8 via welding, heat fitting, etc. The drive gear 13 and the driven internal gear 14 mesh with each other. In this embodiment, after the drive motor 12 starts, its output shaft drives the drive gear 13 to rotate. The drive gear 13 transmits power to the rotating cylinder 8 through meshing with the driven internal gear 14, causing the rotating cylinder 8 to rotate stably, thereby driving the cleaning mechanism 2 to work. The implementation principle of the above embodiment is: using the principle of gear meshing transmission, the drive motor 12 provides power, and the meshing of the drive gear 13 and the driven internal gear 14 accurately and stably transmits power to the rotating cylinder 8, realizing the continuous rotation of the rotating cylinder 8 and providing a stable power source for the oscillating cleaning of the cleaning mechanism 2.

[0033] Reference Figure 1 , Figure 2 , Figure 4 One embodiment is shown as follows: An annular water tank 16 is securely installed on the base frame 1 using welding brackets, bolts, or other methods. The water tank 16 has an interface, and a water pump 17 is connected to this interface via pipes, flanges, or other means. Multiple mounting holes are evenly distributed around the periphery of the annular water tank 16. Spray heads 18 are installed in these mounting holes using threaded connections, snap-fit ​​connections, or other methods. The outlet end of the water pump 17 is connected to the spray head 18 via a pipe. In this embodiment, when the water pump 17 is operating, it draws water from the water tank 16 and delivers it to the spray head 18 through a pipe. The spray head 18 sprays water onto the inner wall of the pipe, wetting it and making it easier for the cleaning sponge 4 to remove dirt.

[0034] The implementation principle of the above embodiment is as follows: the water pump 17 is used to pump and transport water to the water tank 16 through the pipe to the nozzle 18. The nozzle 18 sprays water onto the inner wall of the pipe in the form of a spray or water flow to achieve the wetting treatment of the inner wall of the pipe and assist the cleaning mechanism 2 to improve the cleaning effect.

[0035] Reference Figure 3 , Figure 6One embodiment is shown as follows: Fixed seats 20 are installed on both sides of the base frame 1 via welding, bolt fastening, or other methods. The fixed seats 20 have hinge holes, and the traveling rod 21 is installed in the hinge holes via a hinge shaft, achieving hinge connection with the fixed seats 20. A torsion spring 22 is mounted on the hinge shaft; one end of the torsion spring 22 is fixed at a specific position on the fixed seat 20, and the other end is in contact with or fixedly connected to the traveling rod 21. The other end of the traveling rod 21 has a mounting groove, and the traveling wheel 23 is installed in the mounting groove via a bearing, achieving a rotatable connection between the traveling wheel 23 and the traveling rod 21. In this embodiment, under the action of the torsion spring 22, the traveling rod 21 causes the traveling wheel 23 to fit tightly against the inner wall of the pipe. When the cleaning arm moves within the pipe and encounters different shapes and slopes, the traveling rod 21 can rotate around the hinge shaft, adjusting the position of the traveling wheel 23 through the elastic deformation of the torsion spring 22, ensuring stable movement of the cleaning arm.

[0036] The implementation principle of the above embodiment is as follows: the elastic force of the torsion spring 22 is used to keep the walking wheel 23 in contact with the inner wall of the pipe. When the walking rod 21 encounters changes in the terrain inside the pipe, it rotates through the hinge shaft and makes adaptive adjustments with the help of the deformation of the torsion spring 22, so as to ensure that the cleaning arm moves stably and flexibly inside the pipe.

[0037] Reference Figure 1 , Figure 3 , Figure 4 One embodiment is shown as follows: A rotating seat 24 is installed on one side of the rotating cylinder 8 by welding, bolting, or other means. Several fixing grooves 25 are machined around the rotating seat 24. A sliding rod 26 is installed within each fixing groove 25, with a clearance fit between the sliding rod 26 and the fixing groove 25, allowing the sliding rod 26 to slide axially within the fixing groove 25. A scraper 27 is installed on the side of the sliding rod 26 closest to the inner wall of the pipe by welding, screwing, or other means. The other end of the sliding rod 26 is fixedly connected to one end of a fixing spring 28, and the other end of the fixing spring 28 is fixed to the bottom of the fixing groove 25. In this embodiment, when the rotating cylinder 8 rotates, the rotating seat 24 rotates accordingly. Under the action of the fixing spring 28, the sliding rod 26 keeps the scraper 27 under constant pressure against the inner wall of the pipe, scraping the inner wall to remove stubborn dirt and impurities.

[0038] The implementation principle of the above embodiment is as follows: the elastic force of the fixed compression spring 28 is used to keep the scraper 27 in contact with the inner wall of the pipe. The rotating cylinder 8 rotates and drives the rotating seat 24 to rotate. The scraper 27 scrapes the inner wall of the pipe to remove stubborn dirt and further improve the cleaning quality.

[0039] The working principle of this device is as follows: The cleaning arm is driven into the chemical pipeline by the external walking mechanism 19. Under the action of the torsion spring 22, the walking rod 21 of the walking mechanism 19 makes the walking wheel 23 closely fit the inner wall of the pipeline, ensuring the stable movement of the cleaning arm. After reaching the designated position, the drive motor 12 starts, and through the meshing of the active gear 13 and the driven internal gear 14 on the rotating cylinder 8, it drives the rotating cylinder 8 to rotate. When the rotating cylinder 8 rotates, the swing frame 3 hinged on it swings under the interaction of the sliding block 10 and the protrusion 7 of the fixed plate 6. The first compression spring 9 ensures that the cleaning sponge 4 is always in contact with the inner wall of the pipeline, realizing all-round wiping and cleaning. At the same time, the water pump 17 of the water spray assembly 15 draws water from the annular water tank 16 and sprays it onto the inner wall of the pipeline through the nozzle 18, wetting the dirt for easy cleaning. In addition, the scraper 27 on the rotating seat 24 maintains pressure with the inner wall of the pipeline under the action of the fixed compression spring 28, scraping away stubborn dirt during rotation. All components work together to efficiently complete the chemical pipeline cleaning task.

[0040] The working principle of this device has been explained through the above embodiments. These embodiments only illustrate several implementation methods of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A robotic cleaning arm for cleaning the interior of chemical pipelines, comprising a base frame (1), characterized in that: The base frame (1) is used to connect with the external walking mechanism (19) of the robot to drive the cleaning arm to move inside the chemical pipeline. The base frame (1) is provided with a cleaning mechanism (2) that can clean the inside of the pipeline. The cleaning mechanism (2) includes multiple swing frames (3) that can swing. A cleaning sponge (4) is provided on the side of the swing frame (3) near the inner wall of the pipeline.

2. The robotic cleaning arm for cleaning the interior of chemical pipelines according to claim 1, characterized in that: A fixed rod (5) is provided in the middle of the base frame (1), and a fixed plate (6) is provided on the fixed rod (5). Several protrusions (7) are provided on the periphery of the fixed plate (6). A rotating cylinder (8) is rotatably connected to the base frame (1). The swing frame (3) and the rotating cylinder (8) are hinged. A first compression spring (9) is provided on the side of the swing frame (3) near the rotating cylinder (8). A sliding block (10) is provided at the bottom of the first compression spring (9). The sliding block (10) can slide on the rotating cylinder (8) in its radial direction. The side of the sliding block (10) near the fixed plate (6) is in contact with the fixed plate (6). The sliding block (10) can contact the protrusions (7).

3. The robotic cleaning arm for cleaning the interior of chemical pipelines according to claim 2, characterized in that: The fixed disk (6) is provided with a drive assembly (11) that can drive the rotating cylinder (8) to rotate. The drive assembly (11) is used to drive the cleaning mechanism (2) to clean the pipe. The drive assembly (11) includes a drive motor (12). The output end of the drive motor (12) is provided with a drive gear (13). The rotating cylinder (8) is coaxially provided with a driven internal gear (14). The drive gear (13) meshes with the driven internal gear (14).

4. The robotic cleaning arm for cleaning the interior of chemical pipelines according to claim 1, characterized in that: The base frame (1) is equipped with a water spraying assembly (15) for spraying water onto the inner wall of the pipe. The water spraying assembly (15) includes an annular water tank (16), which is fixed on the base frame (1). A water pump (17) is connected to the water tank (16). Several nozzles (18) are arranged around the annular water tank (16). The water outlet of the water pump (17) is connected to the nozzles (18).

5. The robotic cleaning arm for cleaning the interior of chemical pipelines according to claim 1, characterized in that: The base frame (1) is provided with a walking mechanism (19) on both sides. The walking mechanism (19) includes a fixed seat (20). The fixed seat (20) is fixed to one end of the base frame (1). Multiple walking rods (21) are hinged on the fixed seat (20). The walking rods (21) are provided with a hinge shaft and are hinged to the fixed seat (20) through the hinge shaft. A torsion spring (22) is fitted on the hinge shaft. The other end of the torsion spring (22) is fixedly connected to the fixed seat (20). The other end of the walking rod (21) is rotatably connected to a walking wheel (23).

6. The robotic cleaning arm for cleaning the interior of chemical pipelines according to claim 2, characterized in that: A rotating seat (24) is provided on one side of the rotating cylinder (8). Several fixing grooves (25) are provided on the periphery of the rotating seat (24). A sliding rod (26) is provided in the fixing groove (25). A scraper (27) is provided on the side of the sliding rod (26) near the inner wall of the pipe. A fixing spring (28) is provided at the other end of the sliding rod (26). The other end of the fixing spring (28) is fixed in the fixing groove (25).

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