A slushy ice cleaning robot device for use in the interior wall of a pipe

Abstract

The utility model discloses a kind of ice slurry cleaning robot devices for pipeline inner wall, it includes body, track moving mechanism, ice slurry mechanism, dirt filtering mechanism;Body is long cylindrical, its bottom is provided with track moving mechanism, the inside of body is reserved with water storage warehouse, water storage warehouse connects ice slurry mechanism, the rear lower end of the body is provided with suction mouth to suck dirt, suction mouth communicates dirt filtering mechanism;The ice slurry mechanism includes ice slurry machine, high-pressure pump, spray head connecting seat, ice slurry machine connects water storage warehouse, the ice slurry generated by it is exported to spray head connecting seat by high-pressure pump, the spray head connecting seat connects spray head, spray head connecting seat is set in body front end, and operator can remotely control robot device to carry out pipeline inner wall cleaning and travel, this device integrates ice slurry mechanism and wastewater recovery technology, solve the problem of low pipeline cleaning efficiency and poor adaptability in prior art.

Description

Technical Field

[0001] This utility model relates to the field of pipeline cleaning technology, specifically to a robot device for cleaning the inner wall of pipelines with ice sand. Background Technology

[0002] Pipelines are widely used in industries such as water supply, petrochemicals, and food processing. However, long-term operation leads to the accumulation of scale, rust, biofilm, and organic deposits on the inner walls, affecting the smoothness and service life of the pipelines.

[0003] Traditional cleaning methods typically use high-pressure water rinsing, which is inefficient and cannot remove stubborn dirt. If chemical cleaning agents are used, there is a risk of environmental pollution. Ice sand cleaning technology utilizes the physical scouring and low-temperature embrittlement effect of ice particles, which is environmentally friendly and efficient. However, most existing ice sand devices are fixed equipment, which is difficult to adapt to pipeline structures. Utility Model Content

[0004] The purpose of this invention is to provide a robotic device for cleaning the inner walls of pipes using ice-sand cleaning, solving the problem of poor cleaning efficiency in traditional cleaning methods. This invention achieves highly efficient cleaning of the inner walls of pipes by integrating ice-sand cleaning and wastewater recycling technologies.

[0005] To achieve the above-mentioned objectives, this utility model provides the following technical solution:

[0006] A robot device for cleaning the inner wall of pipes with ice slurry includes a body, a tracked moving mechanism, an ice slurry mechanism, and a dirt filtering mechanism;

[0007] The machine body is a long cylindrical shape, with a tracked movement mechanism at the bottom. A water storage tank is reserved inside the machine body, which is connected to the ice slush mechanism. A sewage suction port is provided at the lower rear end of the machine body for sewage suction, and the sewage suction port is connected to the sewage filtration mechanism.

[0008] The ice sand mechanism includes an ice sander, a high-pressure pump, and a nozzle connector. The ice sander is connected to a water storage tank, and the ice sand it generates is output to the nozzle connector via the high-pressure pump. The nozzle connector is connected to the nozzle and is located at the front end of the machine body. The nozzle is a commercially available rust removal sandblasting rotary nozzle, such as the Xinlongwang brand 300-900 model internal wall sandblasting machine.

[0009] Furthermore, the aforementioned slush machine is an existing technology device, which includes a slush machine and a mixer. The discharge end of the slush machine is connected to the mixer. The output of the slush machine is 20 kg / h, the mixer speed is 500 rpm, the slush particle size is 2 mm, and the discharge end of the mixer is connected to a high-pressure pump.

[0010] The high-pressure pump has a pressure of 1.0 MPa and a flow rate of 5-10 L / min. The discharge end of the agitator is connected to the water outlet pipe of the water storage tank. The ice slush is mixed with water and then output through the high-pressure pump.

[0011] The aforementioned waste filtration mechanism includes a suction port, a suction pump, and a collection chamber connected in sequence. A filter screen is installed inside the collection chamber. An inner frame is installed at the bottom of the filter screen. An activated carbon plate is installed on the inner frame. A circulation pump is installed on the side wall of the inner frame. A circulation pipe connected to the water storage tank is installed at the output end of the circulation pump.

[0012] In a preferred embodiment of the present invention, a robot device for cleaning the inner wall of a pipe with ice sand is provided, wherein the side wall of the inner frame is bolted to a side plate, and the bottom of the inner frame is bolted to a bottom plate.

[0013] The tracked movement mechanism is located at the bottom of the machine body. It includes a drive wheel, and a track is fitted around the outer circumference of the drive wheel. The track is 10cm wide and has wear-resistant rubber protrusions embedded on its surface.

[0014] Each drive wheel is equipped with an independent DC motor drive at its input end, supporting a speed of 0.2 m / s.

[0015] As a preferred embodiment of the present invention, a robot device for cleaning the inner wall of a pipe with ice sand has a length of 1.2m and a diameter of 0.3m, is made of stainless steel, and has a coating on its surface.

[0016] This device also includes a programmable controller, which is connected to a camera, sensors, a communication module, a smoothie machine, a high-pressure pump, a sewage pump, and a DC motor to control the operation of the entire device.

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

[0018] This robotic device for cleaning the inner walls of pipes with ice and sand solves the problems of low cleaning efficiency and poor adaptability in the existing technology. This utility model achieves efficient cleaning of the inner walls of pipes by integrating an ice and sand mechanism and wastewater recycling technology. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the present utility model will be described in detail below with reference to the accompanying drawings and detailed embodiments. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Among them:

[0020] Figure 1 This is a schematic diagram of the body structure of a robot device for cleaning the inner wall of pipes with ice sand according to the present invention;

[0021] Figure 2 This is a schematic diagram of the principle structure of this utility model;

[0022] Figure 3 This is a schematic diagram of the unfolded filter part of this utility model.

[0023] The following are the labels in the diagram: 1. Main body; 2. Water storage tank; 3. Ice slush machine; 4. High-pressure pump; 5. Nozzle; 6. Suction port; 7. Collection tank; 8. Sewage pump; 9. Programmable controller; 10. Camera; 11. Communication module; 12. Sensor; 13. Drive wheel; 14. Track; 15. DC motor; 230. Filter screen; 240. Inner frame; 250. Side plate; 260. Activated carbon plate; 270. Base plate; 280. Circulation pipe. Detailed Implementation

[0024] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0025] This utility model will be described in detail with reference to the accompanying drawings. For ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not adhering to the usual scale. Furthermore, the schematic diagrams are merely examples and should not be construed as limiting the scope of protection of this utility model. The embodiments of this utility model will now be described in further detail with reference to the accompanying drawings.

[0026] Please see Figures 1-3 This embodiment provides a robot device for cleaning the inner wall of a pipe with ice sand, which includes a body 1, a tracked moving mechanism, an ice sand mechanism, and a dirt filtering mechanism.

[0027] The machine body 1 is a long cylindrical shape, with a tracked movement mechanism at the bottom. A water storage tank 2 is reserved inside the machine body, and the water storage tank 2 is connected to the ice slush mechanism. A suction port 6 is provided at the lower rear end of the machine body 1 for suction. The water storage tank 2 is made of stainless steel or high-polymer composite material.

[0028] The ice blending mechanism includes an ice blender, a high-pressure pump, and a nozzle. The ice blender is connected to a water storage tank, and the ice blender it generates is output to the nozzle through the high-pressure pump. The ice blender is installed inside the machine body, which has a sealed chamber that separates the ice blending mechanism, the power supply area, and the control area.

[0029] The power supply area includes a high-capacity lithium battery (24V, 50Ah), providing 4-6 hours of battery life, and is equipped with a fast charging port (fully charged in 2 hours).

[0030] The control area includes a programmable controller, a sensor group, a communication module, and a camera. The sensor group includes an ultrasonic sensor with a detection distance of 0-5m and an accuracy of ±1mm; a high-definition camera with a resolution of 1080p and equipped with an LED fill light, which transmits images of the inner wall in real time; a temperature sensor to monitor the temperature of the smoothie machine and the inner wall of the pipes; a controller based on an ARM Cortex-M4 processor; and a communication module that supports 5G wireless communication or fiber optic cable transmission with a transmission distance of ≥500m.

[0031] The aforementioned waste filtration mechanism includes a suction port 6, a suction pump 8, and a collection chamber 7 connected in sequence. The collection chamber 7 is equipped with a filter screen, which is made of stainless steel mesh (0.5mm aperture). The bottom of the filter screen is equipped with an inner frame, and the inner frame is equipped with multiple activated carbon plates for easy filtration and adsorption of fine residues. A circulation pump is installed on the side wall of the inner frame, and the output end of the circulation pump is equipped with a circulation pipe connected to the water storage chamber. The circulation pump has a power of 30W and returns the filtered liquid to the water storage chamber.

[0032] Meanwhile, to ensure the stability of the internal frame, specifically, the side walls of the internal frame are bolted with side plates, and the bottom of the internal frame is bolted with a base plate.

[0033] The tracked movement mechanism includes a drive wheel 13 and a track 14, which are located at the bottom of the machine body to support and coordinate the movement of the machine body.

[0034] Furthermore, the aforementioned slush machine is an existing technology device, which includes a slush machine and a mixer. The discharge end of the slush machine is connected to the mixer. The output of the slush machine is 20 kg / h, the mixer speed is 500 rpm, and the slush particle size is 0.5-2 mm. The discharge end of the mixer can be connected to a high-pressure pump through a micro screw feeder.

[0035] Next, to ensure the spraying effect, the nozzle is a commercially available rotary sandblasting nozzle for rust removal, such as the Xinlongwang brand 300-900 model internal wall sandblasting machine.

[0036] Furthermore, to ensure driving stability, specifically, the outer circumference of the drive wheel is fitted with a track, which is 10cm wide and has wear-resistant rubber protrusions embedded on its surface, providing support for pipes ranging from DN50 to DN1200.

[0037] It is worth noting that, for ease of movement, each drive wheel is equipped with an independent DC motor drive at its input end, supporting a speed of 0.2 m / s.

[0038] Subsequently, to ensure corrosion resistance, the machine body is specifically 1.2-1.5m in length and 0.3m in diameter, made of stainless steel, with a corrosion-resistant coating applied to the surface. The water storage tank can be equipped with a 50W heater connected to the controller to prevent ice buildup and blockage inside.

[0039] In addition, the circuits, electronic components and modules involved in this utility model are all existing technologies, which can be fully implemented by those skilled in the art, and need not be elaborated upon. The content protected by this utility model does not involve any improvement to the internal structure and method.

[0040] Combination Figures 1-3 The specific usage process of the robot device for cleaning the inner wall of pipes with ice sand according to this embodiment is as follows:

[0041] The robot enters the water-filled pipe via a tracked movement mechanism. For pipes without water, an inlet pipe is required to connect to the water storage tank. The slush machine starts, and the generated slush enters the mixing chamber. The mixing chamber sends the slush to a high-pressure pump, which sprays the slush-water mixture at 0.5 MPa pressure through a rotating nozzle onto the inner wall of the pipe. The slush impacts the inner wall of the pipe, removing scale and dirt. After melting, it mixes with the wastewater. The suction port draws water from the lower part of the robot into the collection tank at a flow rate of 2-5 L / min. The filtered water is then added to the water storage tank. The collection tank has a filtration unit, such as a filter screen and activated carbon plate, to separate solid residue and liquid. The filtered liquid is then returned to the water storage tank via a circulation pump. The controller analyzes and collects camera images and sensor data in real time, and users can intervene in the operation via a remote terminal.

[0042] Although the present invention has been described above with reference to embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the features in the embodiments disclosed in this invention can be combined with each other in any way. The lack of an exhaustive description of these combinations in this specification is merely for the sake of brevity and resource conservation. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A robotic device for cleaning the inner wall of pipes with ice sand, characterized in that, This includes the body, tracked movement mechanism, slush mechanism, and waste filtration mechanism; The machine body is a long cylindrical shape, with a tracked movement mechanism at the bottom. A water storage tank is reserved inside the machine body, which is connected to the ice slush mechanism. A sewage suction port is provided at the lower rear end of the machine body for sewage suction, and the sewage suction port is connected to the sewage filtration mechanism. The slush mechanism includes a slush machine, a high-pressure pump, and a nozzle connector. The slush machine is connected to a water storage tank, and the slush it generates is output to the nozzle connector via the high-pressure pump. The nozzle connector is connected to a nozzle and is located at the front end of the machine body.

2. The robot device for cleaning the inner wall of pipes with ice sand according to claim 1, characterized in that, The aforementioned smoothie machine includes a smoothie maker and a mixer. The discharge end of the smoothie maker is connected to the mixer, and the discharge end of the mixer is connected to a high-pressure pump.

3. The robot device for cleaning the inner wall of pipes with ice sand according to claim 1, characterized in that, The nozzle is a rotating nozzle.

4. The robot device for cleaning the inner wall of pipes with ice sand according to claim 1, characterized in that, The high-pressure pump has a pressure of 1.0 MPa and a flow rate of 5 L / min.

5. The robot device for cleaning the inner wall of pipes with ice sand according to claim 1, characterized in that, The aforementioned waste filtration mechanism includes a suction port, a suction pump, and a collection chamber connected in sequence. A filter screen is installed inside the collection chamber. An inner frame is installed at the bottom of the filter screen. An activated carbon plate is installed on the inner frame. A circulation pump is installed on the side wall of the inner frame. A circulation pipe connected to the water storage tank is installed at the output end of the circulation pump.

6. The robotic device for cleaning the inner wall of pipes with ice sand according to claim 1, characterized in that, The tracked movement mechanism is located at the bottom of the machine body and includes a drive wheel. A track is fitted around the outer circumference of the drive wheel. The track is 10cm wide and has wear-resistant rubber protrusions embedded on its surface. An independent DC motor is provided at the input end of the drive wheel.

7. The robotic device for cleaning the inner wall of pipes with ice sand according to claim 1, characterized in that, The body is made of stainless steel and the surface of the body is coated.

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