CN106475374B - A kind of automatic pipe profile inner cavity flusher and control system - Google Patents
A kind of automatic pipe profile inner cavity flusher and control system Download PDFInfo
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- CN106475374B CN106475374B CN201610941256.1A CN201610941256A CN106475374B CN 106475374 B CN106475374 B CN 106475374B CN 201610941256 A CN201610941256 A CN 201610941256A CN 106475374 B CN106475374 B CN 106475374B
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- spray head
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- inner cavity
- vehicle
- flushing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/032—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing
- B08B9/0321—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing using pressurised, pulsating or purging fluid
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Cleaning By Liquid Or Steam (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
The invention discloses a kind of automatic pipe profile inner cavity flushers, comprising: rinses vehicle；Nozzle component is connect with high-pressure wash source by hose and is rinsed for the inner cavity to pipe profile；With migrate component, be fixedly installed on rinse vehicle on connect with the nozzle component.The invention also discloses a kind of control systems for the flusher, including computer, PLC controller, the hoofing part module being arranged in parallel with PLC controller, spray head migrate drive module, spray head rotation drive module, walking encoder module and ultrasonic sensor modules.Flusher of the invention is applied widely, is applicable to the flushing of different shape, different bore pipe profiles inner cavity, effectively increases production efficiency and product quality, meet the efficiency requirements of industrial mass production；And it is easy to operate, human cost is saved, intelligentized control method and production are realized.
Description
Technical field
The present invention relates to metal tubular product technical field of surface more particularly to a kind of automatic pipe profile inner cavity to rinse dress
It sets and control system.
Background technique
In metal tubular product surface disposing line, according to processing process requirements by metalliferous material be put into various treatment troughs into
Row chemical treatment.After the completion of certain chemical treatment process such as pickling, it is often necessary to surface of material is rinsed with water, with
Solid residue is removed, otherwise the generation of the quality of downstream process will be seriously affected.The clean level of the inner cavity of material is pipe
The key factor of section quality.
Pipe profile is divided into siphunculus and blind pipe, and has various bores and stack mode, and inner cavity backwashing manner is not also identical.
Inner cavity flusher must be able to the selected design for meeting certain backwashing manner of process requirement according to processing line, or have intelligence
Change identification and control function and backwashing manner is adjusted flexibly according to tubing information, to meet the efficiency need of industrial mass production
It asks.
Current inner cavity backwashing manner is only artificial flushing at present, need to be manually aligned in material by operation hydroblasting rifle
Chamber is rinsed by root, there are problems that working environment is severe, large labor intensity, and the stability of surface quality and reliability exist
Hidden trouble.
Summary of the invention
The present invention is to solve the above problem in the prior art, proposes a kind of automatic pipe profile inner cavity flusher and control
System.
The present invention provides a kind of automatic pipe profile inner cavity flusher, using the flushing vehicle of totally-enclosed waterproof anti-corrosion,
And walked on the rack gear of two parallel lay-ups by wheel, to adjust spray head at a distance from material port；Nozzle component simultaneously
Multiple nozzles can be used, spray head rotation is when can be used for rinsing to strengthen flushing effect, and is driven by two servomotors, on work
Lower left and right two dimensional motion.
The present invention also provides a kind of automatic pipe profile inner cavity flusher control systems, are controlled by computer and PLC
Information is transmitted by data network between device and each link block, is electromechanical equipment, realizes the automatic pipe profile inner cavity
The full-automatic of flusher is rinsed.
To achieve the above object, the invention adopts the following technical scheme:
First aspect of the present invention is to provide a kind of automatic pipe profile inner cavity flusher comprising:
Rinse vehicle；
Nozzle component is located at the flushing Chinese herbaceous peony end, and is connect with high-pressure wash source for the pipe by hose
The inner cavity of profile is rinsed；With
Component is migrated, is fixedly installed on the flushing vehicle, connect with the nozzle component for controlling the spray head
Component is moved.
Further, the flushing vehicle uses totally-enclosed waterproof anti-corrosion shell, and bottom is equipped with wheel.
Further, the flushing Chinese herbaceous peony end is equipped with waterproof drop front, and it is living that the nozzle component is installed on the waterproof
On dynamic panel.
Further, the nozzle component includes spray head, rotation asynchronous motor, and the rotation asynchronous motor passes through branch
Seat is connect with the component that migrates, and the rotation asynchronous motor is connect with spray head to be rotated for controlling spray head.
Further, the component that migrates is made of the horizontal lead screw and down-feed screw for being separately equipped with by servo motor,
It is moved on vertical plane for controlling the nozzle component.
It further, further include being set to the ultrasonic sensor for rinsing Chinese herbaceous peony end, the ultrasonic sensor is used
In the spacing for detecting the flushing vehicle and the pipe profile.
It further, further include being set to the optical camera for rinsing Chinese herbaceous peony end top position, the optical camera
Head is remotely connect with control system for the shape of pipe profile and its flushing situation of inner cavity described in remote real time monitoring.
The second aspect of the invention is to provide a kind of control system of above-mentioned automatic pipe profile inner cavity flusher, including
Computer, the PLC controller being connect with computer, and be arranged in parallel with the PLC controller hoofing part module, spray head
Migrate drive module, spray head rotation drive module, walking encoder module and ultrasonic sensor modules；Wherein,
Computer, for controlling, the PLC controller, hoofing part module, spray head migrate drive module, spray head rotation is driven
Dynamic model block, walking encoder module and ultrasonic sensor modules work；
PLC controller, for receiving or handling the hoofing part module, spray head migrates drive module, spray head rotation is driven
The signal or data of dynamic model block, walking encoder module and ultrasonic sensor modules feedback；
Hoofing part module, by being set to the walking asynchronous motor rinsed on vehicle through the first frequency converter and institute
PLC controller series connection is stated, is migrated for controlling the flushing vehicle；
Spray head migrates drive module, by be set on migrated component servo motor through servo controller with it is described
PLC controller series connection, is moved for controlling the nozzle component；
Spray head rotation drive module its by the rotation asynchronous motor that is set on the nozzle component through the second frequency conversion
Device is connected with the PLC controller, for controlling spray head rotation；
Walking encoder module for detecting to the walking position for rinsing vehicle, and is transmitted to the PLC control
The position of vehicle is rinsed in device control.
Further, the spray head migrates drive module and is migrated module by level and vertically migrated module and form, and uses respectively
It carries out up and down or moves left and right in controlling the nozzle component.
Further, which further includes optical camera head module, the optical camera head module and the calculating
Machine connection is for the shape of pipe profile and its flushing situation of inner cavity described in real-time monitoring.
The present invention by adopting the above technical scheme, compared with prior art, has the following technical effect that
Automatic pipe profile inner cavity flusher of the invention is electromechanical integrated device, can be according to the information realization intelligence of tubing
Backwashing manner is adjusted flexibly in energyization identification and control function, suitable for different types, the flushing of different bore pipe profiles inner cavity, fits
It is wide with range, meet the efficiency requirements of industrial mass production；It solves existing manually by present in root backwashing manner
Working environment is severe, the stability and reliability of large labor intensity and surface quality have hidden trouble；The present invention
Device is realized efficient and reliable Full-automatic metal pipe Surface of profile processing, is effectively improved with lower equipment investment cost
The reliability of production efficiency and product quality；Make the flusher easy to operate using corresponding control system simultaneously, saves
Human cost, realizes intelligentized control method and production.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of automatic pipe profile inner cavity flusher of the present invention；
Fig. 2 is a kind of electrical control schematic of the control system of automatic pipe profile inner cavity flusher of the present invention；
Fig. 3 is a kind of spray head running track schematic diagram of automatic pipe profile inner cavity flusher of the present invention；
Wherein, 1- materials in the tube, 2- materials in the tube bracket, 3- flushing vehicle, 4- wheel, 5- track, 6- down-feed screw, 7- horizontal lead screw,
8- spray head, 9- rotate asynchronous motor, 10- waterproof drop front, 11- hose, 12- irrigation source, 13- ultrasonic sensor, 14-
Optical camera.
Specific embodiment
The present invention is described in more detail below by specific embodiment, for a better understanding of the present invention,
But following embodiments are not intended to limit the scope of the invention.
Embodiment 1 is as shown in Figure 1, the present embodiment provides a kind of automatic pipe profile inner cavity flushers comprising: it rinses
Vehicle 3；Positioned at the nozzle component for rinsing 3 front end of vehicle, which is connect with high-pressure wash source 12 for pipe by hose 11
The inner cavity that profile accumulates the materials in the tube 1 to be formed is rinsed；Component is migrated with being fixedly installed on to rinse on vehicle 3, is used to control
Nozzle component carries out moving flushing.Hose uses flexible water conduit or flexible steel pipe；Irrigation source needs to select water according to practical cleaning
Or other chemical cleaning solutions.
The flushing vehicle 3 is made of totally-enclosed waterproof anti-corrosion shell, and bottom is equipped with wheel 4.The flushing vehicle is at two
It walks on the track 5 of parallel laid, to adjust spray head and the end to be rinsed of the expects pipe being placed on materials in the tube bracket 21 of nozzle component
The distance of mouth.It rinses 3 front end of vehicle and is equipped with waterproof drop front 10, nozzle component is installed on waterproof drop front 10.
Nozzle component in the device includes spray head 8 and rotation asynchronous motor 9, and rotation asynchronous motor 9 passes through support
It is connect with component is migrated, which connect with spray head 8 carries out spin rinse for controlling spray head 8.Preferably,
It is provided with multiple nozzles on the spray head 8, the rotation of spray head 8 is controlled to strengthen flushing effect by rotation asynchronous motor 9 when flushing.It moves
Row component is made of the horizontal lead screw 7 and down-feed screw 6 for being separately installed with servo motor, is used to control the spray on nozzle component
Head moves on vertical plane.Preferably, horizontal lead screw 7 and down-feed screw 6 use sliding screw or ball screw；It is highly preferred that
This migrates component using three-dimensional mobile platform.
Embodiment 2 is as shown in Figure 1, the present embodiment provides a kind of automatic pipe profile inner cavity flushers comprising: it rinses
Vehicle 3；Positioned at the nozzle component for rinsing 3 front end of vehicle, which is connect with high-pressure wash source 12 for pipe by hose 11
The inner cavity that profile accumulates the materials in the tube 1 to be formed is rinsed；Component is migrated with being fixedly installed on to rinse on vehicle 3, is used to control
Nozzle component carries out moving flushing.Hose uses flexible water conduit or flexible steel pipe；Irrigation source needs to select water according to practical cleaning
Or other chemical cleaning solutions.
Unlike above-described embodiment 1, which further includes being set to the ultrasonic sensor for rinsing 3 front end of vehicle
13, ultrasonic sensor 13 is used to detect the spacing rinsed between vehicle 3 and pipe profile expects pipe 1.In addition, further including being set to flushing
The optical camera 14 of 3 front end top position of vehicle is equipped with lighting device and windscreen wiper, optical camera on the optical camera 14
14 remotely connect the flushing situation of the shape and its inner cavity for remote real time monitoring pipe profile with control system, can calculate
Realize that situation is rinsed in remote handle observation on machine.If production technology needs, optical camera 14 can also be used for machine vision certainly
The dynamic shape for judging expects pipe 1, or shape information is transmitted by data network, realize automation control.
Embodiment 3 is as shown in Fig. 2, the present embodiment provides a kind of control systems of above-mentioned automatic pipe profile inner cavity flusher
System, including computer, the PLC controller being connect with computer, the hoofing part module being arranged in parallel with PLC controller, spray head
Migrate drive module, spray head rotation drive module, walking encoder module and ultrasonic sensor modules；Wherein,
Computer migrates drive module, spray head rotation driving mould for control PLC controller, hoofing part module, spray head
Block, walking encoder module and ultrasonic sensor modules work；
PLC controller, for receiving or handling hoofing part module, spray head migrates drive module, spray head rotation driving mould
The signal or data of block, walking encoder module and ultrasonic sensor modules feedback；
Hoofing part module is controlled by being set to the walking asynchronous motor rinsed on vehicle through the first frequency converter and PLC
Device series connection processed is migrated for controlling flushing vehicle；
Spray head migrates drive module, by two groups of sliding screws and servo, by being set to servo electricity on migrated component
Machine is connected through servo controller with PLC controller, is moved for controlling nozzle component；
Spray head rotates drive module, by the rotation asynchronous motor that is set on nozzle component through the second frequency converter with
PLC controller series connection, for controlling spray head rotation；
Walking encoder module for detecting to the walking position for rinsing vehicle, and is transmitted to the PLC control
The position of vehicle is rinsed in device control.
The control system of the present embodiment, by the way that computer and PLC controller remotely control hoofing part module, spray head migrates
Drive module, spray head rotation drive module, walking encoder module and ultrasonic sensor modules work, to realize that the flushing fills
It sets middle flushing vehicle 3 to be walked on the rail 5 close to materials in the tube 1, and drive module control is migrated by spray head and migrates hanging down on component
The position that raw silk rings bar or horizontal lead screw drive the mobile adjustment of the spray head on nozzle component to rinse.Each link block of the control system it
Between information transmitted by data network, be electromechanical equipment, realize full-automatic rinse.
Preferably, which migrates drive module and is migrated module by level and vertically migrated module and form, and is respectively used to control
Nozzle component processed is carried out up and down or is moved left and right.Level migrates module and is made of horizontal servo motor and horizontal servo controller,
It is migrated for controlled level screw rod；It vertically migrates module to be made of vertical servo motor and vertical servo controller, for controlling
Down-feed screw migrates.It migrates on vertical plane to control nozzle component, i.e. the running track of spray head, while being rotated by spray head
The further spray head rotation of drive module control rotation asynchronous motor is to strengthen the rotation of flushing effect spray head 8, such as 3a, 3b in Fig. 3
With shown in 3c, it is three kinds of running tracks of spray head 8, and can be done according to different materials in the tube shapes, spray head running track by software
Accordingly it is adjusted to ensure that best flushing effect.
One as the present embodiment is preferred, which further includes optical camera head module, the optical camera mould
Block connect the shape for real-time monitoring pipe profile and its flushing situation of inner cavity with computer.It can realize on computers remote
Journey artificial observation rinses situation.If production technology needs, camera can also be used for machine vision and judge automatically material shapes, or
Shape information is transmitted by data network.
Embodiment 4 as shown in Figure 1-3, present embodiments provide automatic pipe profile inner cavity flusher and its control system,
It rinses vehicle 3 and uses totally-enclosed waterproof anti-corrosion shell, which walks on the track 5 of two parallel lay-ups, to adjust spray head 8
At a distance from 1 port of expects pipe being placed on expects pipe bracket 2.Spray head 8 can set multiple nozzles, when flushing the rotation of spray head 8 with
Strengthen flushing effect.Nozzle component, which is mounted on, migrates the drive of component (down-feed screw 7 and horizontal lead screw 6) You Liangtai servomotor
It is dynamic, two dimensional motion up and down can be done, i.e., does two-dimentional operation on vertical plane.
Preferably, ultrasonic sensor 13 can be installed in front of the flusher, rinse vehicle 3 and materials in the tube 1 for detecting
Distance.Also it can be provided with the optical camera 14 of illumination and windscreen wiper in the flusher front upper place, with real on computers
Situation is rinsed in existing remote handle observation, and if production technology needs, optical camera 14 can also be used for machine vision and judge automatically
The shape of materials in the tube 1, or shape information is transmitted by data network.
The working principle of the automatic pipe profile inner cavity flusher is as follows: in conjunction with Fig. 1 and 2, being mounted on and rinses on 3 platform of vehicle
Walking motor by the first transducer drive, i.e. walking drive module；Motor of walking is rotated by gear-box band motor car wheel 4
It is set to walk on the rail 5.Walking encoder module feeds back the walking position for rinsing vehicle 3 to PLC controller；Ultrasonic sensor
Module detection rinses vehicle 3 at a distance from materials in the tube 1, and transfers data to PLC controller.In actually raw application process, rushing
When the spacing of carwash 3 and materials in the tube 1 is 10-40 centimetres (can manually be arranged), rinses vehicle 3 and stop.
Computer sends the running track coordinate data of spray head 8, nozzle component according to the shape of materials in the tube 1 to PLC controller
From origin under the drive of horizontal lead screw 6 and down-feed screw 7, PLC controller migrates drive module by spray head and controls water
Flat servo controller and vertical servo control run the spray head 8 on nozzle component exactly along desired guiding trajectory, such as Fig. 3 institute
Show.
Be mounted on to migrate on component drives spray head 8 to rotate with the rotation asynchronous machine on support.Optical camera 14
It opens, realtime graphic is passed through into transmission of network to computer.After the completion of flushing task, nozzle component auto-returned origin, simultaneously
Vehicle 3 is rinsed also to travel to origin.
Specific embodiments of the present invention are described in detail above, but it is merely an example, the present invention is simultaneously unlimited
It is formed on particular embodiments described above.To those skilled in the art, any couple of present invention carries out equivalent modifications and
Substitution is also all among scope of the invention.Therefore, without departing from the spirit and scope of the invention made by equal transformation and
Modification, all should be contained within the scope of the invention.
Claims (3)
1. a kind of automatic pipe profile inner cavity flusher, characterized by comprising:
Vehicle is rinsed, the flushing vehicle uses totally-enclosed waterproof anti-corrosion shell, and bottom is equipped with wheel, and the flushing Chinese herbaceous peony end is set
There is waterproof drop front, nozzle component is installed on the waterproof drop front；
Nozzle component is located at the flushing Chinese herbaceous peony end, and is connect with high-pressure wash source for the pipe profile by hose
Inner cavity be rinsed, the nozzle component includes spray head, rotation asynchronous motor, and the rotation asynchronous motor passes through support
It is connect with component is migrated, the rotation asynchronous motor is connect with the spray head to be rotated for controlling the spray head；With
Component is migrated, is fixedly installed on the flushing vehicle, connect with the nozzle component for controlling the nozzle component
It is moved, the component that migrates is made of the horizontal lead screw and down-feed screw for being separately equipped with by servo motor, is used to control
The nozzle component moves on vertical plane；
It further include being set to the ultrasonic sensor for rinsing Chinese herbaceous peony end, the ultrasonic sensor is for detecting the flushing
The spacing of vehicle and the pipe profile；
It further include being set to the optical camera for rinsing Chinese herbaceous peony end top position, the optical camera is remote with control system
Journey connection is for the shape of pipe profile and its flushing situation of inner cavity described in remote real time monitoring；And
It further include the control system of automatic pipe profile inner cavity flusher comprising: computer, the PLC control being connect with computer
Device processed, and the hoofing part module that is arranged in parallel with the PLC controller, spray head migrate drive module, spray head rotation driving
Module, walking encoder module and ultrasonic sensor modules；Wherein:
Computer migrates drive module, spray head rotation driving mould for controlling the PLC controller, hoofing part module, spray head
Block and walking encoder module and ultrasonic sensor modules work；
PLC controller, for receiving or handling the hoofing part module, spray head migrates drive module, spray head rotation driving mould
The signal or data of block, walking encoder module and ultrasonic sensor modules feedback；
Hoofing part module, by be set to it is described flushing vehicle on walking asynchronous motor through the first frequency converter with it is described
PLC controller series connection, migrates for controlling the flushing vehicle；
Spray head migrates drive module, is controlled by being set on migrated component servo motor through servo controller and the PLC
Device series connection processed, is moved for controlling the nozzle component；
Spray head rotation drive module its by the rotation asynchronous motor that is set on the nozzle component through the second frequency converter with
The PLC controller series connection, for controlling spray head rotation；
Walking encoder module for detecting to the walking position for rinsing vehicle, and is transmitted to the PLC controller control
System rinses the position of vehicle.
2. automatic pipe profile inner cavity flusher according to claim 1, which is characterized in that the spray head migrates driving mould
Block is migrated module and is vertically migrated module and formed by level, is respectively used to control the nozzle component up and down or be moved left and right.
3. automatic pipe profile inner cavity flusher according to claim 1, which is characterized in that further include optical camera mould
Block, the optical camera head module are connect for the shape of pipe profile and its rushing for inner cavity described in real-time monitoring with the computer
Wash situation.
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| CN201610941256.1A CN106475374B (en) | 2016-10-26 | 2016-10-26 | A kind of automatic pipe profile inner cavity flusher and control system |
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| CN110686554A (en) * | 2019-11-15 | 2020-01-14 | 南通三圣石墨设备科技股份有限公司 | Heat exchanger cleaning device |
| CN111974767A (en) * | 2020-08-18 | 2020-11-24 | 昆山三一环保科技有限公司 | Robot system applied to heat exchanger tube array cleaning and cleaning method |
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| CN115254731A (en) * | 2022-07-14 | 2022-11-01 | 广州东塑石油钻采专用设备有限公司 | Automatic cleaning method and device for blowout preventer |
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