Pipe cleaning device and control system thereof

Abstract

The utility model relates to pipeline cleaning technical field, concretely relates to pipeline cleaning device and control system thereof, including machine trolley frame, setting on walking mechanism and cleaning mechanism of machine trolley frame, walking mechanism includes a plurality of track units and first motor, a plurality of track units are along the circumferential interval distribution of machine trolley frame, every track unit is through support mechanism and machine trolley frame elastic connection, first motor is transmission connection with track unit to drive track unit movement, cleaning mechanism includes second motor, carousel and cleaning member, second motor's output and carousel rotatory connection, the cleaning member includes a plurality of hook type springs that set in the periphery of carousel, a plurality of hook type springs and carousel between detachable connection. Its purpose lies in, solves the technical problem that pipeline cleaning device cleaning efficiency is low, walking mechanism is easy to jam.

Description

Technical Field

[0001] This utility model relates to the field of pipeline cleaning technology, specifically to a pipeline cleaning device and its control system. Background Technology

[0002] The pumping operations for seepage collection wells in hydropower station dams and stilling basins rely on submersible deep well pumps, with their corresponding riser pipes arranged vertically. Due to long-term mineral deposition in the water, a thick and highly adhesive scale layer forms on the inner wall of the riser pipes after prolonged operation. Cleaning this scale layer requires regular maintenance of the deep well pumps and can only be carried out by disassembling the riser pipes section by section. Constrained by the on-site environment of the hydropower station seepage pump station, the area is densely packed with electrical cabinets and cables, and the space is limited. Only a maintenance power supply is available on-site, with no additional water or air supply for maintenance, limiting traditional cleaning methods to manual scraping and hammering.

[0003] Currently, existing technologies include pipe cleaning robots employing wheeled mobile chassis and rigid scraping structures. These devices typically use a T-shaped chute mechanism to adjust the radial direction of the moving wheels and a stepper motor to drive a wedge-shaped rubber scraper to adhere to the pipe wall for rotational cleaning. While this design achieves a degree of mechanization, its overall structure and adaptability to pipe walls remain significantly limited. The wheeled mobile mechanism suffers from insufficient adhesion in damp pipe wall environments, and the multiple support rods are difficult to synchronize and precisely level in confined spaces, leading to difficulties in centering the equipment and poor walking stability. Furthermore, the rigidly supported wedge-shaped scraper in the cleaning unit lacks dynamic response to changes in the thickness of scale buildup on the pipe wall, making it prone to jamming or missed areas during cleaning, affecting cleaning effectiveness and operational continuity. Utility Model Content

[0004] To address the technical problems of low cleaning efficiency and easy jamming of the traveling mechanism in pipeline cleaning devices, this utility model provides a pipeline cleaning device and its control system. The specific technical solution adopted is as follows: The first aspect of the present invention provides a pipeline cleaning device, including a machine trolley frame, a traveling mechanism disposed on the machine trolley frame, and a cleaning mechanism; The walking mechanism includes multiple track units and a first motor. The multiple track units are distributed circumferentially along the frame of the robot. Each track unit is elastically connected to the frame of the robot through a support mechanism. The first motor is driven by the track unit to drive the track unit to move. The cleaning mechanism includes a second motor, a turntable, and a cleaning component. The output end of the second motor is rotatably connected to the turntable. The cleaning component includes multiple hook-shaped springs disposed around the turntable, and the multiple hook-shaped springs are detachably connected to the turntable.

[0005] Furthermore, multiple sets of support mechanisms are provided between the track unit and the robot frame, and the support mechanism includes a lead screw and an elastic element sleeved on the lead screw.

[0006] Furthermore, one end of the lead screw is fixedly connected to the frame of the trolley, the elastic element is sleeved on the lead screw, and the end of the elastic element away from the frame of the trolley is movably connected to the track unit through a connecting assembly.

[0007] Furthermore, the connecting assembly includes an L-shaped connecting plate and a limiting member. One side of the L-shaped connecting plate is fixedly connected to the track unit, and the other side of the L-shaped connecting plate is sleeved on the lead screw. The limiting member is located on the top of the L-shaped connecting plate and is detachably connected to the lead screw.

[0008] Furthermore, the elastic element is a threaded spring.

[0009] Furthermore, the number of track units is three, and the three track units are distributed at circumferential intervals along the frame of the robot vehicle.

[0010] Furthermore, the turntable has a cross-shaped blade structure, a circular blade structure, or a three-bladed blade structure.

[0011] Furthermore, the plurality of hook-shaped springs are distributed at equal intervals along the circumference of the turntable.

[0012] Furthermore, the hook spring is connected to the turntable via a plug-in connector, with one end of the plug-in connector connected to the turntable and the other end connected to the hook spring.

[0013] The second aspect of the present invention provides a control system for a pipe cleaning device, including the pipe cleaning device described in the first aspect of the present invention and a controller, wherein the controller is electrically connected to a first motor and a second motor.

[0014] This utility model has the following beneficial effects: The pipe cleaning device provided by this utility model has a walking mechanism consisting of multiple circumferentially spaced track units connected to a trolley frame via an elastic support mechanism. This allows the pipe cleaning device to adapt to the unevenness of the pipe wall when moving inside the pipe, maintaining effective contact and pressure balance between the track and the pipe wall, thereby improving walking stability and overcoming the problems of track unit jamming and poor contact. Simultaneously, the cleaning mechanism consists of a turntable driven by a second motor and multiple hook-shaped springs surrounding it. The elasticity of the hook-shaped springs allows them to conform to scale layers of different thicknesses during rotation, avoiding jamming problems caused by uneven scale thickness on rigid cleaning components. The distribution of multiple hook-shaped springs also expands the cleaning coverage area per cycle, and the detachable connection between the hook-shaped springs and the turntable allows for easy adaptation to pipes of different inner diameters. This pipe cleaning device effectively solves the technical problems of low cleaning efficiency and easy jamming of the walking mechanism. Attached Figure Description

[0015] To more clearly illustrate the technical solutions and advantages in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. 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.

[0016] Figure 1 This is a schematic diagram of the overall structure of a pipe cleaning device provided in one embodiment of the present invention; Figure 2 This is a front view of a pipe cleaning device provided in one embodiment of the present invention; Figure 3 This is a top view of a pipe cleaning device provided in one embodiment of the present invention; Figure 4 A schematic diagram of the left side provided for one embodiment of this utility model; Figure 5 This is a schematic diagram of the structure of a pipe cleaning device control system provided in one embodiment of the present invention; Icons: 1-Robot frame, 2-Walking mechanism, 21-Track unit, 22-First motor, 3-Cleaning mechanism, 31-Second motor, 32-Turntable, 33-Hook spring, 34-Plug connector, 4-Support mechanism, 41-Screw, 42-Elastic element, 43-L-shaped connecting plate, 44-Limiting element. Detailed Implementation

[0017] The technical solutions of the present invention will now be described with reference to the accompanying drawings in the embodiments of the present invention.

[0018] It should be noted that similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. It should be noted that the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the figures, or the orientation or positional relationship commonly used when the utility model product is in use. They are only for the convenience of describing this application 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 this application. Furthermore, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0019] Please see Figures 1 to 4 The diagram shows several structural schematics of a pipe cleaning device provided in one embodiment of the present invention. The pipe cleaning device includes a machine trolley frame 1, a walking mechanism 2 disposed on the machine trolley frame 1, and a cleaning mechanism 3. The traveling mechanism 2 includes multiple track units 21 and a first motor 22. The track units 21 are spaced circumferentially along the trolley frame 1. Each track unit 21 is elastically connected to the trolley frame 1 via a support mechanism 4. The first motor 22 is drively connected to the track unit 21 to drive its movement. The cleaning mechanism 3 includes a second motor 31, a turntable 32, and a cleaning component. The output end of the second motor 31 is rotatably connected to the turntable 32. The cleaning component includes multiple hook springs 33 disposed around the turntable 32, and the hook springs 33 are detachably connected to the turntable 32. When the device operates inside a vertical water delivery pipe, it first moves and positions itself via the traveling mechanism 2. The multiple circumferentially distributed track units 21 move along the pipe wall under the drive of their respective first motors 22. The key feature of the pipeline cleaning device in this embodiment is that the support mechanism 4 connecting the track unit 21 and the machine trolley frame 1 includes a lead screw 41 and an elastic element 42. This structure allows each track unit 21 to independently extend and retract radially. When the inner wall of the pipeline is not round or there are localized protruding scale deposits, the elastic support mechanism 4 can automatically compress or extend, thereby dynamically adjusting the force exerted by the tracks on the pipe wall. This ensures that all tracks can continuously and effectively contact the pipe wall, achieving stable traction and preventing equipment jamming or overturning due to uneven pressure. During the cleaning phase, the second motor 31 of the cleaning mechanism 3 drives the turntable 32 to rotate at high speed, causing multiple hook-shaped springs 33 around it to perform circular motion. Because the hook-shaped springs 33 themselves are elastic, their free ends can tightly conform to the contour of the pipe wall under the combined action of centrifugal force and elastic force. When encountering scale layers of varying thickness, the spring undergoes corresponding elastic deformation. For thicker scale layers, the spring compression increases to maintain a certain scraping force; for thinner or scale-free areas, the spring extends to maintain contact, thus avoiding problems such as jamming or incomplete cleaning caused by excessive scraping or poor contact of the rigid scraper. Simultaneously, the detachable connection design between the hook spring 33 and the turntable 32 allows the cleaning mechanism 3 to replace springs of different lengths according to the actual pipe diameter, ensuring the adaptability of the cleaning device to pipes of different specifications.

[0020] This embodiment achieves stable adaptive walking under complex pipe wall conditions through the elastically supported track walking mechanism 2, effectively overcoming the risks of slippage and jamming; at the same time, the use of elastic hook spring 33 as a cleaning component enables efficient and flexible cleaning of uneven scale layers, avoiding jamming of the cleaning device, and significantly improving overall cleaning efficiency and operational reliability.

[0021] In some embodiments, multiple sets of support mechanisms 4 are provided between the track unit 21 and the robot frame 1. Each support mechanism 4 includes a lead screw 41 and an elastic element 42 sleeved on the lead screw 41. In this embodiment, the number of support mechanisms 4 can be determined according to the length of the track unit 21, its load-bearing requirements, and the possible unevenness of the pipe inner wall. Preferably, each track unit 21 is configured with 3 sets of support mechanisms 4, evenly spaced along the length of the track unit 21 to ensure balanced force distribution. When assembling each set of support mechanisms 4, mounting holes adapted to the lead screw 41 are first machined at corresponding positions on the robot frame 1. After one end of the lead screw 41 is inserted into the mounting hole, it can be fixed to the machine trolley frame 1 by welding or bolting to ensure that the lead screw 41 does not wobble radially during use. Then, an elastic element 42 matching the outer diameter of the lead screw 41 is selected, and the elastic element 42 is fitted onto the outer circumference of the lead screw 41 from the free end of the lead screw 41 away from the machine trolley frame 1, so that the elastic element 42 can freely expand and contract along the axial direction of the lead screw 41. One end of the elastic element 42 naturally abuts against the mounting surface of the machine trolley frame 1, and the other end leaves space for connection with the track unit 21. Through multiple sets of support mechanisms 4 of this structure, an elastic support foundation for the track unit 21 along the radial direction of the pipeline is formed.

[0022] In some embodiments, one end of the lead screw 41 is fixedly connected to the robot trolley frame 1, the elastic element 42 is sleeved on the lead screw 41, and the end of the elastic element 42 away from the robot trolley frame 1 is movably connected to the track unit 21 through a connecting assembly. Specifically, the elastic element 42 is sleeved from the free end of the lead screw 41 to the outer periphery of the lead screw 41, so that one end of the elastic element 42 abuts against the mounting plane of the machine trolley frame 1, ensuring that the elastic element 42 is not loose in the initial state; then, a connecting component is assembled at the end of the elastic element 42 away from the frame. The connecting component must have the structural characteristics of being able to move along the axial direction of the lead screw 41. First, one end of the connecting component is fixed to the outer wall of the track unit 21 with bolts, and the other end is machined with a through hole that matches the outer diameter of the lead screw 41. This end is sleeved on the outer periphery of the lead screw 41 through the through hole, so that the connecting component can drive the track unit 21 to slide in a small range along the axial direction of the lead screw 41; after assembly, the elastic element 42 is in a slightly pre-compressed state. When there is a protrusion in the inner wall of the pipe, the track unit 21 is squeezed and moves along the lead screw 41 towards the frame through the connecting component, compressing the elastic element 42; when there is a depression in the inner wall, the elastic element 42 extends and pushes the connecting component to drive the track unit 21 to move away from the frame, realizing the dynamic fit between the track unit 21 and the pipe wall.

[0023] In some embodiments, the connecting assembly includes an L-shaped connecting plate 43 and a limiting member 44. One side of the L-shaped connecting plate 43 is fixedly connected to the track unit 21, and the other side of the L-shaped connecting plate 43 is sleeved on the lead screw 41. The limiting member 44 is located at the top of the L-shaped connecting plate 43 and is detachably connected to the lead screw 41. In this embodiment, the L-shaped connecting plate 43 can be made of high-strength metal material, and both of its two vertical sides are machined with mounting holes or through holes. One side plane of the L-shaped connecting plate 43 is fixed to the outer wall of the track unit 21 by bolts. The bolts need to be symmetrically arranged to ensure that the connecting plate and the track unit 21 are not relatively loose. A through hole adapted to the outer diameter of the lead screw 41 is machined on the other side plane of the L-shaped connecting plate 43. This side plane is sleeved on the outer periphery of the lead screw 41 through the through hole, so that the connecting plate can slide smoothly along the axial direction of the lead screw 41. Then, a mounting hole with the lead screw 41 is selected. The limiting member 44, preferably a nut with internal threads, is adapted to fit the screw 41. The limiting member 44 is screwed into the screw 41 from the free end until the limiting member 44 presses against the L-shaped connecting plate 43 away from the outer plane of the track unit 21. The pressing action of the limiting member 44 prevents the L-shaped connecting plate 43 from detaching from the screw 41 along the axial direction. When the elastic member 42 extends and retracts, causing the track unit 21 to move, the L-shaped connecting plate 43 can slide stably along the screw 41. The limiting member 44 always maintains axial limitation on the connecting plate, ensuring the structural stability of the connecting assembly.

[0024] In some embodiments, the elastic element 42 is a threaded spring. A threaded spring is a standard component that provides linear elastic force. In this embodiment, the threaded spring generates continuous and uniform radial pressure, forcing the track unit 21 to press against the tube wall, ensuring sufficient friction to prevent slippage.

[0025] The above embodiment provides balanced radial support for the track unit 21 through the spaced arrangement of multiple sets of support mechanisms 4, avoiding deformation or damage to the track unit 21 due to uneven local stress. The cooperative structure of the lead screw 41 and the elastic element 42 allows the track unit 21 to adaptively adjust its position along the radial direction of the pipeline, effectively adapting to the protrusions or depressions of the inner wall of the pipeline, and always maintaining effective contact between the track unit 21 and the pipe wall, preventing the walking mechanism 2 from getting stuck or having poor contact. The overall structural design of the device takes into account walking stability, self-adaptability and ease of maintenance, effectively improving the operational reliability of the pipeline cleaning device in the cleaning operation of the deep well pump water pipe.

[0026] In some embodiments, the number of track units 21 is three, and the three track units 21 are distributed circumferentially at intervals along the circumference of the robot frame 1. In this embodiment, the installation reference of the track units 21 can be determined according to the outer circumferential dimensions of the robot frame 1. A circular or regular polygonal structure of the robot frame 1 can be selected, and three symmetrical track unit 21 mounting seats are machined on the outer circumferential wall of the frame. The three mounting seats are evenly distributed at a 120° angle along the circumference of the frame, thereby avoiding the risk of overturning that may occur in vertical pipes.

[0027] In some embodiments, the turntable 32 has a cross-blade structure, a circular blade structure, or a three-blade structure. The cross-blade structure is simple and has evenly distributed mounting points, providing a stable base for the hook spring 33; the circular blade structure has a continuous and smooth outer edge, stabilizing airflow during rotation and helping to reduce disturbances; the specific structure of the turntable 32 can be selected according to actual needs.

[0028] In some embodiments, a plurality of hook springs 33 are distributed at equal intervals along the circumference of the turntable 32. The multiple hook springs 33 are evenly arranged at the same angular intervals along the circumference of the turntable 32, ensuring that the scraping force is evenly applied to the entire circumference of the pipe inner wall during rotational cleaning. This avoids vibration caused by uneven force distribution and ensures that each rotation thoroughly cleans the pipe wall without any omissions, significantly improving the uniformity and efficiency of the cleaning.

[0029] In some embodiments, the hook spring 33 is connected to the turntable 32 via a plug-in connector 34. One end of the plug-in connector 34 is connected to the turntable 32, and the other end is connected to the hook spring 33. One end of the plug-in connector 34 can be fixed to the turntable 32 by means of threads or welding, while the other end is designed to be quickly plugged into and unplugged from the interface at the end of the hook spring 33, thus forming a modular interface that allows field personnel to quickly replace hook springs 33 of different specifications or those that have failed due to wear.

[0030] Please see Figure 5This diagram illustrates the structure of a pipe cleaning device control system according to an embodiment of the present invention. It includes the pipe cleaning device described in the above embodiment and a controller, which is electrically connected to the first motor 22 and the second motor 31. The controller can be a microcontroller or PLC controller, used to control the start / stop and speed of the first motor 22 and the second motor 31. In practice, the operator can send commands to the system through a human-machine interface connected to the controller, such as a handheld device or a touchscreen. After receiving the commands, the controller controls the start / stop and speed of the first motor 22, thereby directing the device to move or hover in the vertical pipe at an appropriate speed. Simultaneously, the controller can independently control the start / stop and speed of the second motor 31, driving the turntable 32 and the hook spring 33 to rotate and clean at the optimal cutting speed.

[0031] In some embodiments, the controller can perform linked logic control on the operating states of the two motors. For example, it can be set so that the walking motor only starts at a low speed after the cleaning motor reaches its rated speed, ensuring that the cleaning action is sufficient and effective; the controller can also indirectly judge the working condition by monitoring changes in motor current. For example, when the cleaning motor current continues to increase, it may indicate that the scale in front is abnormally hard or thick. At this time, the controller can automatically reduce the walking speed to prevent the equipment from being overloaded and jammed.

[0032] This embodiment integrates a dedicated controller to control the motor's start-stop, speed adjustment, and linkage logic, thereby upgrading pipeline cleaning operations from manual to automated operation. This improves operational efficiency and the consistency of the cleaning process, and enhances the reliability and intelligence of the entire device under complex working conditions.

[0033] In addition to the above description, the following points need to be noted: (1) The accompanying drawings of the embodiments of this disclosure only involve the structures involved in the embodiments of this disclosure. Other structures can be referred to the general design. (2) The first motor, the second motor and their coordinated control program in this disclosure are all mature and conventional technologies in the prior art. Those skilled in the art can realize the application of this utility model based on the principle of the same function in the prior art. This program part is not the innovation point of this utility model. (3) Where there is no conflict, the embodiments of this disclosure and the features in the embodiments can be combined with each other to obtain new embodiments.

[0034] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A pipe cleaning device, characterized in that, It includes a robot car frame, a traveling mechanism mounted on the robot car frame, and a cleaning mechanism; The walking mechanism includes multiple track units and a first motor. The multiple track units are distributed circumferentially along the frame of the robot. Each track unit is elastically connected to the frame of the robot through a support mechanism. The first motor is driven by the track unit to drive the track unit to move. The cleaning mechanism includes a second motor, a turntable, and a cleaning component. The output end of the second motor is rotatably connected to the turntable. The cleaning component includes multiple hook-shaped springs disposed around the turntable, and the multiple hook-shaped springs are detachably connected to the turntable.

2. The pipe cleaning device according to claim 1, characterized in that, Multiple support mechanisms are provided between the track unit and the robot frame. Each support mechanism includes a lead screw and an elastic element sleeved on the lead screw.

3. The pipe cleaning device according to claim 2, characterized in that, One end of the lead screw is fixedly connected to the frame of the trolley, the elastic element is sleeved on the lead screw, and the end of the elastic element away from the frame of the trolley is movably connected to the track unit through a connecting assembly.

4. The pipe cleaning device according to claim 3, characterized in that, The connecting assembly includes an L-shaped connecting plate and a limiting member. One side of the L-shaped connecting plate is fixedly connected to the track unit, and the other side of the L-shaped connecting plate is sleeved on the lead screw. The limiting member is located on the top of the L-shaped connecting plate and is detachably connected to the lead screw.

5. The pipe cleaning device according to claim 2, characterized in that, The elastic element is a threaded spring.

6. The pipe cleaning device according to claim 2, characterized in that, The number of track units is three, and the three track units are distributed circumferentially along the frame of the robot.

7. The pipe cleaning device according to any one of claims 1 to 6, characterized in that, The turntable has a cross-shaped blade structure, a circular blade structure, or a three-bladed blade structure.

8. The pipe cleaning device according to claim 7, characterized in that, Multiple hook-shaped springs are distributed at equal intervals along the circumference of the turntable.

9. The pipe cleaning device according to claim 7, characterized in that, The hook spring is connected to the turntable via a plug-in connector, with one end of the connector connected to the turntable and the other end connected to the hook spring.

10. A pipeline cleaning device control system, characterized in that, The device includes the pipe cleaning apparatus and controller as described in any one of claims 1 to 9, wherein the controller is electrically connected to the first motor and the second motor.

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