Automatic cleaning device and system for inner wall of tubular centrifuge drum

Abstract

The utility model discloses a automatic cleaning device and system of tubular centrifuge rotating drum inner wall relates to the cleaning equipment technical field of tubular centrifuge rotating drum, and automatic cleaning device includes support, cleaning mechanism, drive mechanism and controller, and cleaning mechanism includes telescopic rotary mechanical arm, and drive mechanism is connected with telescopic rotary mechanical arm and drives its telescopic and rotary action relative to rotating drum, and the top of telescopic rotary mechanical arm is equipped with spring telescopic scraper assembly, L type compressed air purging head and fixed shower nozzle, and spring telescopic scraper assembly includes scraper, and L type compressed air purging head is connected air compressor through air pipe, and fixed shower nozzle connects liquid supplementing pipeline, and air pipe and liquid supplementing pipeline are equipped with valve I and valve II respectively, and controller is connected with drive mechanism, valve I and valve II control respectively, and the system based on this automatic cleaning device is proposed simultaneously, and the problem that manual cleaning tubular centrifuge rotating drum in prior art is big in labor intensity and has not washed completely is solved.

Description

Technical Field

[0001] This utility model belongs to the technical field of cleaning equipment for tubular centrifuge drums, specifically relating to an automatic cleaning device and system for the inner wall of a tubular centrifuge drum. Background Technology

[0002] The existing tubular centrifuge drums are cleaned manually using manual cleaning tools, which mainly has the following problems:

[0003] 1. Low cleaning efficiency: Most of the adhesive residue on the inner wall needs to be scraped off manually with tools, and then the remaining adhesive residue needs to be rinsed off with a water hose or water gun. This is labor-intensive, time-consuming and labor-intensive.

[0004] 2. Incomplete cleaning: Due to the manual cleaning operation, the cleaning effect may vary each time, and some hard-to-clean corners may be overlooked.

[0005] 3. Safety hazards exist: During manual cleaning, due to the large weight and special shape of the drum of the tubular centrifuge, it is easy to slip and fall, which may damage the equipment and also pose a risk of personal injury to the operator.

[0006] 4. Standardized processes cannot ensure consistency: Manual cleaning cannot guarantee the standardization of cleaning operation methods and the consistency of cleaning media (such as pressure, temperature, time, cleaning fluid concentration, etc.). Summary of the Invention

[0007] This invention aims to solve the problems of high labor intensity, low efficiency and incomplete cleaning of the drum of a tubular centrifuge in the prior art. It proposes an automatic cleaning device and system for the inner wall of the drum of a tubular centrifuge, which has an ingenious structure and a high degree of automation.

[0008] To achieve the above-mentioned objectives, the technical solution of this utility model is as follows:

[0009] An automatic cleaning device for the inner wall of a tubular centrifuge drum includes a support bracket for supporting the drum, a cleaning mechanism, a drive mechanism, and a controller. The cleaning mechanism includes a telescopic rotating mechanical arm. The drive mechanism is connected to the telescopic rotating mechanical arm and drives the telescopic rotating mechanical arm to extend, retract, and rotate relative to the drum. The top of the telescopic rotating mechanical arm is equipped with a spring-loaded telescopic scraper assembly, an L-shaped compressed air blowing head, and a fixed nozzle. The spring-loaded telescopic scraper assembly includes a scraper (in the working state, the scraper is in contact with the inner wall of the drum to clean it). The L-shaped compressed air blowing head is connected to an air compressor through an air pipe. The fixed nozzle is connected to a liquid replenishment pipe. Valves I and II are respectively installed on the air pipe and the liquid replenishment pipe. The controller is connected to the drive mechanism, valve I, and valve II for control.

[0010] Furthermore, the top of the telescopic rotary robotic arm is provided with a connector, on which the spring telescopic scraper assembly, the L-shaped compressed air blowing head, and the fixed nozzle are all assembled.

[0011] Furthermore, the spring telescopic scraper assembly is mounted on the side of the connector. The spring telescopic scraper assembly includes a telescopic rod, a spring, and a scraper. One end of the telescopic rod is installed in the movable cavity of the connector, and the other end is connected to the scraper. One end of the spring is fixedly connected to the connector, and the other end is connected to the scraper. The telescopic rod and the spring cooperate to control the horizontal telescopic movement of the scraper.

[0012] Furthermore, the side of the scraper that contacts the inner wall of the drum is provided with a scraper head made of a soft material; preferably, the scraper head is made of soft polyurethane (PU), polytetrafluoroethylene (RPTFE) or silicone rubber.

[0013] Furthermore, the fixed nozzle is mounted on the opposite side of the spring telescopic scraper assembly; preferably, the fixed nozzle includes a spray ball.

[0014] Furthermore, the L-shaped compressed air blow head is located on the upper end side of the connector, and several nozzles are distributed on the L-shaped compressed air blow head.

[0015] Furthermore, the main body of the L-shaped compressed air blowing head is respectively provided with nozzles facing directly upward, facing the horizontal side, and facing obliquely upward.

[0016] An automatic cleaning system includes the automatic cleaning device as described above, as well as a pure water storage tank and a detergent storage tank. The pure water storage tank is connected to a replenishment pipeline via pipeline I, and the detergent storage tank is connected to the replenishment pipeline via pipeline II. A delivery pump is installed on the replenishment pipeline, and valves III and IV are respectively installed on pipeline I and pipeline II. The controller is connected to the delivery pump, valves III and IV for control.

[0017] The beneficial effects of this utility model are:

[0018] This utility model proposes an ingeniously designed and simple automatic cleaning device for the inner wall of a tubular centrifuge drum. A telescopic rotating robotic arm, driven by a mechanism, performs reciprocating motion to repeatedly clean the drum's inner wall. This, combined with a spring-loaded telescopic scraper assembly and a fixed nozzle, enables the cleaning of the drum's inner wall. An L-shaped compressed air blower is used to blow compressed air onto the sides and top of the drum's inner wall after cleaning. The telescopic rotating robotic arm can extend, retract, and rotate relative to the drum, covering a wider cleaning area. The controller controls the stroke of the telescopic rotating robotic arm by controlling the drive mechanism and controls the opening and closing of the L-shaped compressed air blower and the fixed nozzle by controlling the opening of corresponding valves, thus achieving automated cleaning. Compared to traditional manual cleaning methods, this automatic cleaning device significantly shortens cleaning time, improves cleaning efficiency, reduces labor costs, and provides a more thorough cleaning with less mechanical damage.

[0019] Second, in this utility model, the top of the telescopic rotating robotic arm is provided with a connector, which facilitates the stable assembly of the spring telescopic scraper assembly, the L-shaped compressed air blowing head and the fixed nozzle onto the connector, ensuring the stable operation of each component.

[0020] III. In this utility model, the spring telescopic scraper assembly includes a telescopic rod, a spring, and a scraper; one end of the telescopic rod is installed in the movable cavity of the connector, and the other end is connected to the scraper; one end of the spring is fixedly connected to the connector, and the other end is connected to the scraper; under the combined action of the telescopic rod and the spring, the scraper can closely adhere to the inner wall of the drum in the working state, so it is suitable for drums with various inner wall sizes.

[0021] Fourth, in this utility model, the scraper head made of a soft material (such as soft polyurethane material) is provided on the side of the scraper that contacts the inner wall of the drum. This scraper head has high wear resistance and excellent elasticity, is oil-resistant and corrosion-resistant, has a long service life, and does not damage the inner wall of the drum.

[0022] V. In this utility model, the fixed nozzle is installed on the opposite side of the spring telescopic scraper assembly, and achieves the purpose of cleaning the inner wall and top of the drum by high-pressure spraying of cleaning fluid (pure water or other washing fluid). The fixed nozzle includes a spray ball, which can generate a fan-shaped liquid film for large-area rinsing of the inner wall and top of the drum.

[0023] VI. In this utility model, the L-shaped compressed air blowing head is located on the upper side of the connector. The L-shaped compressed air blowing head is equipped with several nozzles. Through the reciprocating rotation of the telescopic rotating mechanical arm, the preferred structure of the L-shaped compressed air blowing head is that the main body is respectively provided with nozzles facing directly upward, facing the horizontal side, and facing obliquely upward. Its special L-shaped structure is used to perform compressed air blowing on the inner wall side and top of the drum without dead angles, and remove water stains from the inner wall.

[0024] VII. This utility model provides a new automatic cleaning system, including an automatic cleaning device, a pure water storage tank, and a washing liquid storage tank. The pure water storage tank is connected to a replenishment pipe via pipe I, and the washing liquid storage tank is connected to the replenishment pipe via pipe II. A delivery pump is installed on the replenishment pipe, and valves III and IV are respectively installed on pipe I and pipe II. The controller is connected to the delivery pump, valves III and IV for control. By controlling the opening degree of the delivery pump, valves III and IV, different washing liquids are used to alternately clean the inner wall of the drum to achieve the cleaning requirements. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the automatic cleaning device in this utility model.

[0026] Figure 2 This is a magnified view of a portion of the cleaning mechanism.

[0027] Figure 3 This is a structural diagram of an L-shaped compressed air purge head.

[0028] Figure 4 This is a structural schematic diagram of the automatic cleaning system in this utility model.

[0029] The components include: 1. Rotary drum; 2. Support frame; 3. Cleaning mechanism; 4. Drive mechanism; 5. Controller; 6. Air pipe; 7. Air compressor; 8. Liquid replenishment pipe; 9. Valve I; 10. Valve II; 11. Pure water storage tank; 12. Washing liquid storage tank; 13. Pipe I; 14. Pipe II; 15. Transfer pump; 16. Valve III; 17. Valve IV; 3.1 Telescopic rotating robotic arm; 3.2 Spring telescopic scraper assembly; 3.3 L-shaped compressed air blowing head; 3.4 Fixed nozzle; 3.5 Connector; 3.2.1 Scraper; 3.2.2 Telescopic rod; 3.2.3 Spring; 3.2.4 Scraper head; 3.3.1 Nozzle; 3.4.1 Spray ball; 3.5.1 Movable chamber. Detailed Implementation

[0030] The present invention will be further described in detail below with reference to the embodiments, but the implementation of the present invention is not limited thereto.

[0031] Example 1

[0032] An automatic cleaning device for the inner wall of a tubular centrifuge drum includes a support 2 for supporting the drum 1, a cleaning mechanism 3, a drive mechanism 4, and a controller 5.

[0033] refer to Figure 1 , 2The cleaning mechanism 3 includes a telescopic rotating mechanical arm 3.1. The drive mechanism 4 is connected to the telescopic rotating mechanical arm 3.1 and drives the telescopic rotating mechanical arm 3.1 to perform telescopic and rotating movements relative to the drum 1. The top of the telescopic rotating mechanical arm 3.1 is equipped with a spring telescopic scraper assembly 3.2, an L-shaped compressed air blowing head 3.3, and a fixed nozzle 3.4. The spring telescopic scraper assembly 3.2 includes a scraper 3.2.1, which is attached to the inner wall of the drum 1. The L-shaped compressed air blowing head 3.3 is connected to an air compressor 7 through an air pipe 6. The fixed nozzle 3.4 is connected to a liquid replenishment pipe 8. Valves I 9 and II 10 are respectively provided on the air pipe 6 and the liquid replenishment pipe 8. The controller 5 is connected to the drive mechanism 4, valve I 9, and valve II 10 for control.

[0034] In this embodiment, the drive mechanism 4 is a motor. The telescopic rotary robotic arm 3.1 is driven by the motor to make reciprocating motion to repeatedly clean the inner wall of the drum 1. The speed of the motor is preferably set to 50~200 r / min. It works with the spring telescopic scraper assembly 3.2 and the fixed nozzle 3.4 to achieve the cleaning operation of the inner wall of the drum 1. The L-shaped compressed air blowing head 3.3 is used to blow compressed air on the side and top of the inner wall of the drum 1 after cleaning.

[0035] In this embodiment, the telescopic rotary robotic arm 3.1 can telescopically extend and rotate relative to the drum 1. Through the reciprocating motion driven by the motor and its own telescopic rotation, the positional relationship between the spring telescopic scraper assembly 3.2, the fixed nozzle 3.4 and the inner wall of the drum 1 is adjusted to cover a larger cleaning area.

[0036] In this embodiment, the telescopic stroke, rotation angle, and reciprocating motion frequency driven by the motor of the telescopic rotary robotic arm 3.1 can be adapted and reasonably selected according to the size and specifications of the drum 1 and the cleaning requirements. In this embodiment, the telescopic rotary robotic arm 3.1 uses a commercially available industrial-grade three-section servo electric lifting column (manufacturer: Dongguan Ruilian Intelligent Equipment Co., Ltd., model: RLD143) and a 2-in-2-out pipeline + electro-hydraulic slip ring (manufacturer: Shenzhen Senruipu Electronics Co., Ltd., model: 3002012), and the two are used together to obtain the telescopic rotary robotic arm 3.1.

[0037] In this embodiment, preferably, the bracket 2 adopts a detachable or adjustable structure, which can be adapted to support and place drums 1 of different models and specifications.

[0038] Example 2

[0039] Compared with Embodiment 1, the difference in this embodiment is that the top of the telescopic rotary robotic arm 3.1 is provided with a connector 3.5, and the spring telescopic scraper assembly 3.2, the L-shaped compressed air blowing head 3.3 and the fixed nozzle 3.4 are all assembled on the connector 3.5.

[0040] Example 3

[0041] The difference between this embodiment and embodiments 1-2 is that, in reference to... Figure 2 The spring-loaded telescopic scraper assembly 3.2 is mounted on the side of the connector 3.5. The spring-loaded telescopic scraper assembly 3.2 includes a telescopic rod 3.2.2, a spring 3.2.3, and a scraper 3.2.1. One end of the telescopic rod 3.2.2 is installed in the movable cavity of the connector 3.5, and the other end is connected to the scraper 3.2.1. One end of the spring 3.2.3 is fixedly connected to the connector 3.5, and the other end is connected to the scraper 3.2.1. The telescopic rod 3.2.2 and the spring 3.2.3 work together to control the horizontal telescopic movement of the scraper 3.2.1.

[0042] In this embodiment, the elastic force of spring 3.2.3 can be selected as needed to adapt to the different cleaning requirements of the inner wall of drum 1 and meet different cleaning intensity requirements.

[0043] Example 4

[0044] The difference between this embodiment and embodiments 1-3 is that, in reference... Figure 2 The scraper head 3.2.4 made of soft polyurethane material is provided on the side of the scraper 3.2.1 that contacts the inner wall of the drum 1.

[0045] Example 5

[0046] The difference between this embodiment and embodiments 1-4 is that, in reference to Figure 2 The fixed nozzle 3.4 is installed on the opposite side of the spring telescopic scraper assembly 3.2. The fixed nozzle 3.4 includes a spray ball 3.4.1.

[0047] In this embodiment, the coverage range and thickness of the fan-shaped liquid film generated by the spray ball 3.4.1 can be adjusted by changing the spray pressure and flow rate of the fluid in the replenishment pipe 8 to suit different cleaning scenarios.

[0048] Example 6

[0049] The difference between this embodiment and embodiments 1-5 is that, in reference... Figure 2 The L-shaped compressed air purge head 3.3 is located on the upper end side of the connector 3.5, and a number of nozzles 3.3.1 are distributed on the L-shaped compressed air purge head 3.3.

[0050] In this embodiment, the blowing pressure and flow rate of the L-shaped compressed air blowing head 3.3 can be adjusted according to actual needs to adapt to the different requirements for blowing and removing water stains on the inner wall of the drum 1.

[0051] Example 7

[0052] The difference between this embodiment and embodiments 1-6 is that, in reference to... Figure 3The L-shaped compressed air blowing head 3.3 is provided with nozzles 3.3.1 facing directly upward, facing horizontal side, and facing obliquely upward respectively.

[0053] Example 8

[0054] An automatic cleaning system includes an automatic cleaning device as described in Embodiment 1, with reference to... Figure 4 The system includes a pure water storage tank 11 and a washing liquid storage tank 12. The pure water storage tank 11 is used to store pure water, ultrapure water, deionized water, tap water, or demineralized water, etc. The washing liquid storage tank 12 is used to store cleaning solutions for specific reagents (the type of cleaning solution is selected according to the properties of the residue in the drum 1). The pure water storage tank 11 is connected to the replenishment pipe 8 through pipe I 13, and the washing liquid storage tank 12 is connected to the replenishment pipe 8 through pipe II 14. The replenishment pipe 8 is equipped with a transfer pump 15, and pipes I 13 and II 14 are respectively equipped with valves III 16 and IV 17. The controller 5 is connected to the transfer pump 15, valves III 16 and IV 17 for control.

[0055] In this embodiment, the controller 5 can control the opening and closing of the delivery pump 15, valve III 16 and valve IV 17 or adjust the opening degree of the valves to achieve the switching between pure water and cleaning solution.

[0056] During use, after scraping away most of the gelatinous material on the inner wall of the drum 1 by scraper 3.2.1, turn on the delivery pump 15 and valve III 16 to pre-clean the inner wall of the drum 1 with purified water from the pure water storage tank 11; then close valve III 16 and open valve IV 17 to perform the main cleaning of the inner wall of the drum 1 with the chemical reagents from the washing liquid storage tank 12 to dissolve the remaining gelatinous material; then open valve III 16 and close valve IV 17 to perform the final rinsing of the inner wall of the drum 1 with purified water.

[0057] Example 9

[0058] To facilitate public understanding of this utility model, this embodiment uses an automatic cleaning system as an example to further illustrate the solution.

[0059] An automatic cleaning system includes an automatic cleaning device for the inner wall of a tubular centrifuge drum, a pure water storage tank 11, and a washing liquid storage tank 12.

[0060] refer to Figures 1-4 The automatic cleaning device includes a bracket 2 for supporting the drum 1, a cleaning mechanism 3, a drive mechanism 4, and a controller 5. The cleaning mechanism 3 includes a telescopic rotating mechanical arm 3.1. The drive mechanism 4 is connected to the telescopic rotating mechanical arm 3.1 and drives the telescopic rotating mechanical arm 3.1 to perform telescopic and rotating actions relative to the drum 1.

[0061] In this embodiment, the top of the telescopic rotary robotic arm 3.1 is equipped with a spring telescopic scraper assembly 3.2, an L-shaped compressed air blowing head 3.3, and a fixed nozzle 3.4. The spring telescopic scraper assembly 3.2 includes a scraper 3.2.1, which is in contact with the inner wall of the drum 1. The L-shaped compressed air blowing head 3.3 is connected to the air compressor 7 through an air pipe 6. The fixed nozzle 3.4 is connected to the replenishment pipe 8. Valves I 9 and II 10 are respectively provided on the air pipe 6 and the replenishment pipe 8. The pure water storage tank 11 is connected to the replenishment pipe 8 through pipe I 13. The washing liquid storage tank 12 is connected to the replenishment pipe 8 through pipe II 14. A delivery pump 15 is provided on the replenishment pipe 8. Valves III 16 and IV 17 are respectively provided on pipe I 13 and pipe II 14. The controller 5 is connected to the drive mechanism 4, the delivery pump 15, valve I 9, valve II 10, valve III 16, and valve IV 17.

[0062] In this embodiment, the top of the telescopic rotary robotic arm 3.1 is provided with a connector 3.5, and the spring telescopic scraper assembly 3.2, the L-shaped compressed air blowing head 3.3 and the fixed nozzle 3.4 are all assembled on the connector 3.5.

[0063] In this embodiment, the spring telescopic scraper assembly 3.2 is mounted on the side of the connector 3.5. The spring telescopic scraper assembly 3.2 includes a telescopic rod 3.2.2, a spring 3.2.3, and a scraper 3.2.1 installed in the movable cavity of the connector 3.5. One end of the spring 3.2.3 is connected to the scraper 3.2.1; the other end is connected and fixed to the connector 3.5. The telescopic rod 3.2.2 and the spring 3.2.3 cooperate to control the scraper 3.2.1 to telescopically extend and retract in the horizontal direction.

[0064] In this embodiment, the scraper head 3.2.4 made of soft polyurethane material is provided on the side of the scraper 3.2.1 that contacts the inner wall of the drum 1.

[0065] In this embodiment, the fixed nozzle 3.4 is installed on the opposite side of the spring telescopic scraper assembly 3.2, and the fixed nozzle 3.4 includes a spray ball 3.4.1.

[0066] In this embodiment, the L-shaped compressed air purge head 3.3 is disposed on the upper end side of the connector 3.5, and a plurality of nozzles 3.3.1 are distributed on the L-shaped compressed air purge head 3.3. The plurality of nozzles 3.3.1 are respectively disposed on the top, the horizontal side and the obliquely above the main body of the L-shaped compressed air purge head 3.3.

[0067] In this embodiment, the drive mechanism 4 is a motor. The telescopic rotary robotic arm 3.1 is driven by the motor to make reciprocating motion to repeatedly clean the inner wall of the drum 1. The speed of the motor is preferably set to 50~200 r / min. It works with the spring telescopic scraper assembly 3.2 and the fixed nozzle 3.4 to achieve the cleaning operation of the inner wall of the drum 1. The L-shaped compressed air blowing head 3.3 is used to blow compressed air on the side and top of the inner wall of the drum 1 after cleaning.

[0068] In this embodiment, the telescopic rotary robotic arm 3.1 can telescopically and rotate relative to the drum 1. Through the reciprocating motion driven by the motor and its own telescopic rotation, it can cover a larger cleaning range, thereby adjusting the positional relationship between the spring telescopic scraper assembly 3.2, the fixed nozzle 3.4 and the inner wall of the drum 1.

[0069] In this embodiment, the telescopic stroke, rotation angle, and reciprocating motion frequency driven by the motor of the telescopic rotary robotic arm 3.1 can be adapted and reasonably selected according to the size and specifications of the drum 1 and the cleaning requirements.

[0070] In this embodiment, the telescopic rotary robotic arm 3.1 is a commercially available industrial-grade three-section servo electric lifting column (manufacturer: Dongguan Ruilian Intelligent Equipment Co., Ltd., model: RLD143, in which the motor is a permanent magnet synchronous motor of model ACM0H-0401 manufactured by Panasonic), and a 2-in-2-out pipeline + electro-integrated slip ring (manufacturer: Shenzhen Senruipu Electronics Co., Ltd., model: 3002012). The two are used together to obtain the telescopic rotary robotic arm 3.1.

[0071] Compared with the traditional method of manually cleaning the drum 1 of a tubular centrifuge, the automatic cleaning system of this invention has the following advantages:

[0072] 1. Significantly reduces cleaning time.

[0073] The cleaning time for a single batch has been reduced from several hours to tens of minutes by manual cleaning, reducing downtime and increasing daily production capacity by about 30%.

[0074] 2. Reduce labor costs

[0075] No professional personnel are required for cleaning; ordinary operators can initiate the cleaning program through the control system, reducing manpower input. It is estimated that automated cleaning can reduce the cleaning cost of a single drum unit by 40-60% per year.

[0076] 3. Consistency of cleaning cleanliness

[0077] The cleaning parameters (such as pressure, cleaning fluid, and cleaning time) involved in this automated cleaning system can be precisely set and recorded through the controller 5, avoiding the randomness of manual operation, ensuring consistent cleaning results for each batch, and meeting quality traceability requirements (such as the requirement to record cleaning logs in the pharmaceutical industry).

[0078] 4. Reduce mechanical damage

[0079] During manual cleaning, operators may use hard tools (such as brushes or scrapers) to scrape the inner wall of the drum 1, which can easily cause surface scratches or damage, affecting the dynamic balance and sealing of the equipment. Automatic cleaning mainly achieves cleaning through fluid flushing, avoiding physical wear.

[0080] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. An automatic cleaning device for the inner wall of the drum of a tubular centrifuge, characterized in that: The system includes a support (2) for supporting the drum (1), a cleaning mechanism (3), a drive mechanism (4), and a controller (5). The cleaning mechanism (3) includes a telescopic rotary robotic arm (3.1). The drive mechanism (4) is connected to the telescopic rotary robotic arm (3.1) and drives the telescopic rotary robotic arm (3.1) to perform telescopic and rotary movements relative to the drum (1). The top of the telescopic rotary robotic arm (3.1) is equipped with a spring telescopic scraper assembly (3.2), an L-shaped compressed air blower head (3.3), and a fixed nozzle (3.4). The spring telescopic scraper assembly (3.2) includes a scraper (3.2.1), which is attached to the inner wall of the drum (1). The L-shaped compressed air blower head (3.3) is connected to the air compressor (7) through the air pipe (6). The fixed nozzle (3.4) is connected to the liquid replenishment pipe (8). Valves I (9) and II (10) are respectively provided on the air pipe (6) and the liquid replenishment pipe (8). The controller (5) is connected to the drive mechanism (4), valve I (9), and valve II (10) for control.

2. The automatic cleaning device for the inner wall of the drum of a tubular centrifuge according to claim 1, characterized in that: The top of the telescopic rotary robotic arm (3.1) is provided with a connector (3.5), and the spring telescopic scraper assembly (3.2), the L-shaped compressed air blowing head (3.3) and the fixed nozzle (3.4) are all assembled on the connector (3.5).

3. The automatic cleaning device for the inner wall of the drum of a tubular centrifuge according to claim 2, characterized in that: The spring telescopic scraper assembly (3.2) is mounted on the side of the connector (3.5). The spring telescopic scraper assembly (3.2) includes a telescopic rod (3.2.2), a spring (3.2.3), and a scraper (3.2.1). One end of the telescopic rod (3.2.2) is installed in the movable cavity (3.5.1) of the connector (3.5), and the other end is connected to the scraper (3.2.1). One end of the spring (3.2.3) is fixedly connected to the connector (3.5), and the other end is connected to the scraper (3.2.1). The telescopic rod (3.2.2) and the spring (3.2.3) work together to control the horizontal telescopic movement of the scraper (3.2.1).

4. The automatic cleaning device for the inner wall of the drum of a tubular centrifuge according to claim 3, characterized in that: The scraper (3.2.1) has a scraper head (3.2.4) made of soft material on the side that contacts the inner wall of the drum (1).

5. The automatic cleaning device for the inner wall of the drum of a tubular centrifuge according to claim 4, characterized in that: The scraper head (3.2.4) is made of soft polyurethane, polytetrafluoroethylene or silicone rubber.

6. The automatic cleaning device for the inner wall of the drum of a tubular centrifuge according to claim 3, characterized in that: The fixed nozzle (3.4) is installed on the opposite side of the spring telescopic scraper assembly (3.2).

7. The automatic cleaning device for the inner wall of the drum of a tubular centrifuge according to claim 6, characterized in that: Fixed sprinklers (3.4) include spray balls (3.4.1).

8. The automatic cleaning device for the inner wall of the drum of a tubular centrifuge according to claim 2, characterized in that: The L-shaped compressed air purge head (3.3) is located on the upper end side of the connector (3.5), and several nozzles (3.3.1) are distributed on the L-shaped compressed air purge head (3.3).

9. The automatic cleaning device for the inner wall of the drum of a tubular centrifuge according to claim 8, characterized in that: The L-shaped compressed air blow head (3.3) is provided with nozzles (3.3.1) facing directly upward, facing horizontally to the side, and facing obliquely upward respectively.

10. An automatic cleaning system, characterized in that: The device includes an automatic cleaning device as described in any one of claims 1-9, a pure water storage tank (11) and a washing liquid storage tank (12). The pure water storage tank (11) is connected to the replenishment pipe (8) through pipe I (13), and the washing liquid storage tank (12) is connected to the replenishment pipe (8) through pipe II (14). A delivery pump (15) is provided on the replenishment pipe (8). Valves III (16) and IV (17) are respectively provided on pipe I (13) and pipe II (14). The controller (5) is connected to the delivery pump (15), valve III (16) and valve IV (17) respectively.

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