CN113522891B - Thermal decontamination robot for long pipeline and decontamination method thereof - Google Patents
Thermal decontamination robot for long pipeline and decontamination method thereof Download PDFInfo
- Publication number
- CN113522891B CN113522891B CN202110650575.8A CN202110650575A CN113522891B CN 113522891 B CN113522891 B CN 113522891B CN 202110650575 A CN202110650575 A CN 202110650575A CN 113522891 B CN113522891 B CN 113522891B
- Authority
- CN
- China
- Prior art keywords
- rod
- robot
- pipeline
- decontamination
- box
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000005202 decontamination Methods 0.000 title claims abstract description 53
- 230000003588 decontaminative effect Effects 0.000 title claims abstract description 39
- 230000007246 mechanism Effects 0.000 claims abstract description 91
- 239000012459 cleaning agent Substances 0.000 claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 238000004140 cleaning Methods 0.000 claims description 17
- 238000002955 isolation Methods 0.000 claims description 13
- 238000004321 preservation Methods 0.000 claims description 10
- 238000003825 pressing Methods 0.000 claims description 8
- 238000001179 sorption measurement Methods 0.000 claims description 8
- 239000003599 detergent Substances 0.000 claims description 7
- 238000010438 heat treatment Methods 0.000 claims description 7
- 238000009413 insulation Methods 0.000 claims description 7
- 230000002146 bilateral effect Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 4
- 230000007774 longterm Effects 0.000 claims description 3
- 238000005201 scrubbing Methods 0.000 claims description 3
- 230000000087 stabilizing effect Effects 0.000 claims description 3
- 238000003756 stirring Methods 0.000 claims description 3
- 239000012528 membrane Substances 0.000 claims description 2
- 238000013020 steam cleaning Methods 0.000 claims description 2
- 238000005507 spraying Methods 0.000 claims 2
- 238000003860 storage Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/94—Investigating contamination, e.g. dust
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/94—Investigating contamination, e.g. dust
- G01N2021/945—Liquid or solid deposits of macroscopic size on surfaces, e.g. drops, films, or clustered contaminants
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a thermal decontamination robot for a long pipeline and a decontamination method thereof, and the thermal decontamination robot comprises a central machine body, wherein the left side and the right side of the central machine body are respectively hinged with a rotating box through a hinge rod, the upper side and the lower side of the two rotating boxes are respectively provided with a decontamination supporting mechanism, the front side and the rear side of the central machine body are respectively provided with a movement mechanism, a cleaning agent box is rotatably arranged in the rotating box on the left side, and the left end surface of the rotating box on the left side is provided with a detection mechanism.
Description
Technical Field
The invention relates to the technical field of thermal decontamination, in particular to a thermal decontamination robot for a long pipeline and a decontamination method thereof.
Background
The dirt removal in the pipeline is a very troublesome work, do not have fine method to remove the clearance spot in real life always, the manual work is cleared up and is wasted time and energy, also be difficult to play anticipated effect simultaneously, and the mode inefficiency of traditional use manual clearance, and current robot cleaning equipment appears skidding easily or blocks motionless phenomenon in some complicated pipelines in addition, especially the turning in the pipeline, the dead condition of card appears very easily, lead to the clearance effect of pipeline not good, therefore it is necessary to design one kind and use manpower sparingly, and can be nimble move the dirt removal robot that can not block up in complicated pipeline.
Disclosure of Invention
The invention aims to provide a thermal decontamination robot for a long pipeline and a decontamination method thereof, which are used for overcoming the defects in the prior art.
According to the thermal decontamination robot for the long pipeline and the decontamination method thereof, the thermal decontamination robot comprises a central machine body, wherein the left side and the right side of the central machine body are respectively hinged with a rotating box through hinged rods, the upper side and the lower side of the two rotating boxes are respectively provided with a decontamination supporting mechanism, the decontamination supporting mechanism is used for supporting and stabilizing the rotating boxes, a hydraulic rod is connected between the upper decontamination supporting mechanism and the lower decontamination supporting mechanism, the hydraulic rod can slide and stretch up and down, one end of the two hydraulic rods, which are close to each other, is in power connection with a hydraulic pump, two movement supporting mechanisms are arranged between the two rotating boxes, the two movement supporting mechanisms are symmetrically arranged up and down, the movement supporting mechanisms are used for supporting the two rotating boxes, the front side and the rear side of the central machine body are respectively provided with a movement mechanism, the movement mechanisms are used for driving the two rotating boxes to move forward or backward, a cleaning agent box is rotatably arranged in the rotating box on the left side, the cleaning agent box is used for storing cleaning agent, a detection mechanism is arranged on the left end face of the rotating box on the left side, the detection mechanism is used for detecting whether stains exist, an isolation mechanism is arranged on the right side of the rotating box, a heat insulation mechanism is used for keeping heat in a steam cleaning mechanism, and a steam heating mechanism is used for wiping mechanism, and a steam is used for wiping mechanism, and a steam wiping mechanism is fixedly arranged in a steam wiping mechanism, and a steam wiping mechanism is used for wiping mechanism, and a steam wiping mechanism is arranged in a steam wiping mechanism.
According to the technical scheme, the moving mechanism comprises two first fixing blocks fixedly arranged on the front side face and the rear side face of the rotating box, each first fixing block is provided with a sliding block in a front-back sliding mode, a first motor is fixedly arranged in the central machine body, telescopic rods are dynamically connected to the left end and the right end of the first motor, the telescopic rods can stretch out and draw back in the left direction and the right direction, the two telescopic rods extend into the corresponding sliding blocks respectively, shafts are rotatably arranged in the two sliding blocks, the top ends of the shafts are in power connection with the corresponding telescopic rods through bevel gear sets, power wheels are fixedly arranged at the bottom ends of the two shafts, two rollers are rotatably arranged on the periphery of the shafts, a first connecting rod is fixedly arranged on the periphery of each roller, first sliding cavities are formed in the front side face and the rear side face of the two rotating boxes respectively, a first sliding pin is fixedly arranged at one end of each first connecting rod, the first sliding pin is slidably arranged in the first sliding cavity, an elastic rod is fixedly arranged between each first connecting rod and the corresponding rotating box and used for bouncing the power wheels, and a wire is wound between the cleaning agent box and the two power wheels.
Further technical scheme, scrubbing supporting mechanism is including seting up two the chamber of accomodating on the face of the both sides about the rotation case, every it all slides from top to bottom to accomodate the intracavity and is equipped with the second fixed block, every the second fixed block with correspond hydraulic stem fixed connection, it is equipped with two bilateral symmetry's second connecting rod to rotate on the second fixed block, accomodate the intracavity and rotate the support telescopic link that is equipped with bilateral symmetry, two it fixes to support the one end that the telescopic link was kept away from each other rotate the incasement, it is scalable to support the telescopic link, two the one end that the support telescopic link was drawn close to each other all has set firmly the adsorption disc, two the equal hinged joint of the other end of second connecting rod supports the telescopic link, through hydraulic pump work makes the hydraulic stem outwards extends, promotes the second fixed block outwards removes to drive the expansion of second connecting rod supports the outside expansion of support telescopic link makes the pipeline wall can be hugged closely to the adsorption disc.
According to the technical scheme, the movement supporting mechanism comprises pressure rods which are vertically arranged on the central machine body, a supporting wheel is arranged between the two pressure rods in a rotating mode, first spring telescopic rods are fixedly arranged on the left side and the right side of each pressure rod, a first supporting rod is fixedly arranged at the other end of each first spring telescopic rod on the left side, a second sliding cavity is fixedly arranged at the other end of each first supporting rod, second sliding pins are respectively arranged on the upper side and the lower side of each rotating box, each second sliding cavity is slidably arranged in each second sliding pin, a second supporting rod is fixedly arranged at the other end of each pressure rod on the right side, and each second supporting rod is fixedly arranged on the corresponding rotating box on the right side.
Further technical scheme, detection mechanism is including setting firmly on the left third fixed block on the rotation case, a second motor has set firmly in the third fixed block, the left side power of second motor is connected with a threaded rod that extends left, screw-thread fit is connected with the screw thread piece in the periphery of threaded rod, the electric light has all set firmly at the upper and lower both ends of screw thread piece, the left side of screw thread piece has set firmly a panoramic camera, the equal hinged joint in upper and lower both sides of third fixed block has the baffle, the baffle is used for the protection panoramic camera is not disturbed by the spot with the electric light, is located on the left sprinkler of installing several evenly distributed in the periphery of rotation case, the sprinkler with through the hose connection between the detergent case, the upper and lower both sides of screw thread piece all articulate there is the third connecting rod, the third connecting rod with hinged joint between the baffle, through second motor work drives the threaded rod rotates, thereby makes the screw thread piece moves right, supports the third connecting rod motion makes the baffle is opened, the electric light work sends the brightness of shooing, the panoramic camera is handled, when discovering the spot, the sprinkler goes out the cleaning solution.
Further technical scheme, heat preservation isolation mechanism includes two first discs, is located left first disc is fixed on the right side rotate the case on, be located left fifth connecting rod has set firmly on the first disc, the right-hand member of fifth connecting rod articulates through spherical hinge head has the fourth connecting rod, the fourth connecting rod is with another first disc is fixed, the upper and lower both sides of fourth connecting rod have set firmly a fourth fixed block, two it has a second spring telescopic link to articulate on the fourth fixed block, the other end sliding connection of second spring telescopic link is in the periphery of fifth connecting rod, be used for the adjustment the fifth connecting rod with angle between the fourth connecting rod makes the robot can pass through the turn mouth in the pipeline, every all slide the sector plate that is equipped with circular array distribution in the periphery of first disc, every two liang all be connected with a heat preservation membrane between the sector plate, every all be equipped with first air pump in the first disc, first air pump is used for control the sector plate expandes or accomodates, every all set firmly pressure detector on the fan-shaped lateral surface of sector plate, pressure detector is used for induction pressure control, control the first air pump work, make work outside through the sector plate work, make the sector plate blow in the steam heating and process to the airtight steam and to the steam generator, thereby make the steam generator to receive the airtight work pressure change, the steam generator, make the steam generator to the sector plate, the steam generator to the airtight processing of the airtight work of the sector plate.
According to the technical scheme, the wiping mechanism comprises a second disc fixedly arranged on the periphery of a fifth connecting rod, four telescopic air rods which are uniformly distributed are arranged on the periphery of the second disc in a rotating mode, cleaning rags are fixedly arranged on the telescopic air rods and can stretch and retract, the cleaning rags are used for removing stains, a second air pump is fixedly arranged in the second disc and is communicated with the four telescopic air rods, one of the telescopic air rods is fixedly provided with a magnet, the other one of the second disc is fixedly provided with an electromagnet, a spring is connected between the magnet and the electromagnet, and the second air pump works to drive the telescopic air rods to extend to abut against the inner wall of the pipeline, and the electromagnet works to drive the magnet to move back and forth to clean the inner wall of the pipeline.
The invention relates to a thermal decontamination robot for a long pipeline and a decontamination method thereof, which comprises the following steps:
the method comprises the following steps that firstly, a robot is placed in a long pipeline, the robot is started to work, a second motor works to enable a threaded rod to rotate to drive two baffles to be opened, an electric lamp and a panoramic camera work to take photos to detect stains in the pipeline, the first motor works to drive power wheels on the left side and the right side of a central machine body to rotate to control the robot to move in the pipeline for detection, meanwhile, ropes on the power wheels enable a cleaning agent box to rotate to stir the cleaning agent, the cleaning agent cleaning effect is prevented from being reduced due to long-term non-use of the cleaning agent, when a turning opening is met, a first spring telescopic rod can actively stretch and retract according to the radius of the pipeline, the power wheels on the front side and the rear side are attached to the inner wall of the pipeline, the rotating boxes on the left side and the right side can swing on the central machine body, the robot is prevented from being locked at the turning position, and when the robot needs to turn, the power wheels on the front side and the rear side can automatically adjust and attach to the inner wall of the pipeline to move according to the elasticity of the elastic rod;
secondly, when stains are detected, the stains are sprayed onto the inner wall of the pipeline through a sprayer, then the first motor controls the robot to move, the heat-insulation isolation mechanism on the rear side is aligned to a stain area, the hydraulic pump works to enable the hydraulic rod to move outwards of the robot and drive the second fixing block to move outwards, so that the second connecting rod is driven to support the telescopic rod to lift and open, the adsorption disc can be adsorbed on the wall of the pipeline, the whole position of the robot is fixed, the first air pump works to push the sector plates to expand outwards and cling to the wall of the pipeline, and when the sector plates cling to the wall of the pipeline, the pressure detector sends a signal to enable high-temperature gas in the steam box to fill the stain area and heat the stain area;
thirdly, after the heating is finished, the second air pump works to push the telescopic air rod to expand outwards to enable the telescopic air rod to be attached to the wall of the pipeline, the electromagnet works to attract and repel the magnet in a reciprocating mode, and cleaning rags on the telescopic air rod rotate back and forth on the wall of the pipeline to clean;
and fourthly, the first air pump and the second air pump work to enable the wiping mechanism and the heat-preservation isolation mechanism to return to the original shape, the hydraulic pump works to enable the decontamination supporting mechanism to retract to the accommodating cavity, the robot is stopped to be fixed, and then the first motor works to drive the robot to continue to detect the pipeline.
The beneficial effects of the invention are: the thermal decontamination robot for the long pipeline and the decontamination method thereof can move in the pipeline, the moving mechanism can automatically attach to the pipeline wall when a turning angle is met, the movement inspection is carried out, the robot cannot be clamped in the pipeline, the cleaning agent in the robot can be kept in a normal state, the utilization rate of the cleaning agent is improved, the frequent follow-up and replacement work of the cleaning agent is avoided, and the practicability of the robot is improved.
Drawings
FIG. 1 is a schematic view of the thermal decontamination robot for a long pipeline and the decontamination method thereof according to the present invention;
FIG. 2 is a schematic view of the internal structure of a thermal decontamination robot for a long pipeline and a decontamination method thereof according to the present invention;
FIG. 3 is an enlarged schematic view of the motion support mechanism;
FIG. 4 is a schematic side view in the direction B of FIG. 2;
FIG. 5 is an enlarged schematic view of the desmear support mechanism;
FIG. 6 is a schematic side view of the insulating isolation mechanism as it is retracted;
FIG. 7 is a schematic side view of the insulation mechanism when extended;
FIG. 8 is a schematic side view of F-F of FIG. 4;
fig. 9 is a side cross-sectional schematic view of a wiping mechanism.
Detailed Description
For purposes of making the objects and advantages of the present invention more apparent, the following detailed description of the invention, taken in conjunction with the examples, should be understood that the following text is only intended to describe one or several specific embodiments of the invention, and not to strictly limit the scope of the invention as specifically claimed, and as used herein, the terms upper, lower, left and right are not limited to their strict geometric definitions, but include tolerances for reasonable and inconsistent machining or human error, the following detailed description of the specific features of the long pipe thermal decontamination robot and decontamination method thereof:
referring to fig. 1 to 9, the thermal decontamination robot for a long pipeline according to the embodiment of the invention includes a central machine body 10, wherein the left and right sides of the central machine body 10 are respectively hinged to a rotating box 11 through a hinge rod 64, the upper and lower sides of the two rotating boxes 11 are respectively provided with a decontamination supporting mechanism 101, the decontamination supporting mechanism 101 is used for supporting and stabilizing the rotating boxes 11, a hydraulic rod 25 is connected between the upper and lower decontamination supporting mechanisms 101, the hydraulic rod 25 can slide and stretch up and down, one end of the two hydraulic rods 25 close to each other is in power connection with a hydraulic pump 24, two movement supporting mechanisms 102 are arranged between the two rotating boxes 11, the two movement supporting mechanisms 102 are vertically and symmetrically arranged, the movement supporting mechanisms 102 are used for supporting the two rotating boxes 11, the front and rear sides of the central machine body 10 are respectively provided with a movement mechanism 103, the movement mechanisms 103 are used for driving the two rotating boxes 11 to move forward or backward, the rotating box 11 on the left side is rotatably provided with a cleaning agent box 12, the cleaning agent box 12 is used for storing cleaning agent, the left end surface of the rotating box 11 on the left side is provided with a detection mechanism 105, the detection mechanism 105 is used for detecting whether the cleaning mechanism 106 is arranged in the rotating box 11, and the steam wiping mechanism 106 is arranged in the right side of the heat insulation area, and the heat insulation area for keeping the steam box 13, and the steam wiping mechanism 106 is arranged for keeping the cleaning mechanism 106, and the steam box 11, and the steam wiping mechanism 106.
Advantageously or exemplarily, the moving mechanism 103 includes two first fixing blocks 80 fixed on both front and rear sides of the rotating box 11, each first fixing block 80 is provided with a sliding block 38 sliding back and forth, the center body 10 is fixedly provided with a first motor 36, both left and right ends of the first motor 36 are power-connected with a telescopic rod 37, the telescopic rods 37 can extend left and right, the two telescopic rods 37 respectively extend into the corresponding sliding blocks 38, both sliding blocks 38 are rotatably provided with shafts 65, top ends of the shafts 65 are power-connected with the corresponding telescopic rods 37 through bevel gear sets 66, bottom ends of the shafts 65 are fixedly provided with power wheels 15, the shafts 65 are rotatably provided with two rollers 67 on the outer periphery thereof, each roller 67 is fixedly provided with a first connecting rod 40 on the outer periphery thereof, both front and rear sides of the two rotating boxes 11 are respectively provided with first sliding cavities 43, one end of the first connecting rod 40 is fixedly provided with a first sliding pin 75, the first sliding pin 75 is slidably provided in the first sliding cavity 43, a space between each first connecting rod 40 and the corresponding rotating box 11 is provided with an elastic rod 68 for winding the cleaning agent 12, and the cleaning agent 12.
Beneficially or exemplarily, the decontamination supporting mechanism 101 includes two storage cavities 70 provided on the upper and lower side surfaces of the rotating box 11, each storage cavity 70 is internally provided with a second fixed block 28 in a vertically sliding manner, each second fixed block 28 is fixedly connected with the corresponding hydraulic rod 25, the second fixed block 28 is rotatably provided with two second connecting rods 29 in bilateral symmetry, the storage cavity 70 is internally provided with support telescopic rods 34 in a rotationally symmetrical manner, two ends of the support telescopic rods 34, which are far away from each other, are fixed in the rotating box 11, the support telescopic rods 34 are telescopic, one ends of the two support telescopic rods 34, which are close to each other, are fixedly provided with adsorption discs 31, and the other ends of the two second connecting rods 29 are hinged to the support telescopic rods 34, so that the hydraulic rods 25 are extended outwards through the operation of the hydraulic pump 24, the second fixed blocks 28 are pushed to move outwards, thereby driving the second connecting rods 29 to expand, and the support the telescopic rods 34 to expand outwards, so that the adsorption discs 31 can be tightly attached to the pipeline wall.
Advantageously or exemplarily, the movement support mechanism 102 includes two pressing rods 71 vertically arranged on the central body 10, a support wheel 33 is rotatably arranged in the middle of each of the two pressing rods 71, a first spring extension rod 35 is fixedly arranged on each of the left and right sides of the pressing rod 71, a first support rod 32 is fixedly arranged at the other end of the first spring extension rod 35 on the left side, a second sliding cavity 72 is fixedly arranged at the other end of the first support rod 32, second sliding pins 73 are respectively arranged on each of the upper and lower sides of the two rotating boxes 11, the second sliding cavity 72 is slidably arranged in the second sliding pin 73, a second support rod 69 is fixedly arranged at the other end of the pressing rod 71 on the right side, and the second support rod 69 is fixedly arranged on the rotating box 11 on the right side.
Beneficially or exemplarily, the detection mechanism 105 includes a third fixing block 77 fixed on the left side of the rotating box 11, a second motor 44 is fixed in the third fixing block 77, a left side of the second motor 44 is in power connection with a threaded rod 45 extending leftward, a threaded block 46 is in threaded fit connection with the periphery of the threaded rod 45, lamps 47 are fixed at the upper end and the lower end of the threaded block 46, a panoramic camera 76 is fixed at the left side of the threaded block 46, baffles 48 are hinged at the upper end and the lower end of the third fixing block 77, the baffles 48 are used for protecting the panoramic camera 76 and the lamps 47 from being interfered by dirt, a plurality of uniformly distributed sprayers 78 are installed on the periphery of the rotating box 11 at the left side, the sprayers 78 are connected with the detergent box 12 through hoses 81, third connecting rods 49 are hinged at the upper end and the lower end of the threaded block 46, the third connecting rods 49 are hinged with the baffles 48, and the second motor 44 works to drive the threaded rod 45 to rotate, so that the threaded rod 46 moves rightward, the third connecting rods 49 move, the lamps are opened, the lamps are used for taking photos and the stains are used for taking photos and processing the stains, and the photos of the stains, and the stains 47 are used for taking the photos.
Advantageously or exemplarily, the heat-insulating isolation mechanism 106 includes two first disks 50, the first disk 50 on the left side is fixed to the rotating box 11 on the right side, a fifth link 14 is fixed to the first disk 50 on the left side, a fourth link 26 is hinged to the right end of the fifth link 14 through a ball joint 61, the fourth link 26 is fixed to the other first disk 50, a fourth fixed block 62 is fixed to the upper and lower sides of the fourth link 26, a second telescopic spring rod 63 is hinged to the two fourth fixed blocks 62, the other end of the second telescopic spring rod 63 is slidably connected to the outer circumference of the fifth link 14, an insulating film 52 is connected between each two fan plates 51, a first air pump 82 is disposed in each first disk 50, the first air pump 82 is used for controlling the fan plates 51 to be arranged in a circular array, a fan-shaped plate 51 is slidably disposed on the outer circumference of each first disk 50, a pressure sensor 54 is disposed on the outer side of each first disk 50, and a pressure sensor 54 is disposed on the outer side of each fan plate 51, and a working pressure sensor 54 is used for sensing the working pressure of the steam box 13, and sensing pressure sensor 54, and sensing the working pressure sensor is used for sensing the working pressure of the steam box 13.
Beneficially or exemplarily, the wiping mechanism 107 includes a second circular disc 57 fixedly arranged on the outer periphery of the fifth connecting rod 14, four telescopic air rods 58 are rotatably arranged on the outer periphery of the second circular disc 57, four cleaning rags 30 are fixedly arranged on the four telescopic air rods 58, the telescopic air rods 58 can be telescopic, the cleaning rags 30 are used for removing dirt, a second air pump 83 is fixedly arranged in the second circular disc 57, the second air pump 83 is communicated with the four telescopic air rods 58, a magnet 59 is fixedly arranged on one of the telescopic air rods 58, an electromagnet 60 is fixedly arranged on the second circular disc 57, a spring 84 is connected between the magnet 59 and the electromagnet 60, and the second air pump 83 is operated to drive the telescopic air rods 58 to extend to abut against the inner wall of the pipeline, and the electromagnet 60 is operated to drive the magnet 59 to move back and forth, so as to clean the inner wall of the pipeline.
The invention discloses a thermal decontamination robot for a long pipeline and a decontamination method thereof, which comprises the following steps:
firstly, a robot is placed in a long pipeline, the robot is started to work, the second motor 44 works, the threaded rod 45 is made to rotate, the two baffles 48 are driven to be opened, the electric lamp 47 and the panoramic camera 76 work, photos are taken to detect stains in the pipeline, the first motor 36 works to drive the power wheels 15 on the left side and the right side of the central machine body 10 to rotate, the robot is controlled to move in the pipeline to be detected, meanwhile, ropes on the power wheels 15 enable the detergent box 12 to rotate, stirring of the detergent is carried out, reduction of cleaning effect of the detergent caused by long-term non-use of the detergent is avoided, when a turning opening is met, the first spring telescopic rod 35 can actively stretch and retract according to the radius of the pipeline, the power wheels 15 on the front side and the rear side are made to be attached to the inner wall of the pipeline, the rotating boxes 11 on the left side and the right side can swing on the central machine body 10, the robot is prevented from being stuck to the turning position, and when turning is needed, the power wheels 15 on the front side and the rear side can automatically adjust the inner wall of the pipeline to move according to the elasticity of the elastic rod 41.
Secondly, when stains are detected, the stains are sprayed to the inner wall of the pipeline through a sprayer 78, then the first motor 36 controls the robot to move, the heat preservation isolation mechanism 106 on the rear side is aligned with a stain area, the hydraulic pump 24 works, the hydraulic rod 25 moves outwards of the robot, the second fixing block 28 is driven to move outwards, the second connecting rod 29 is driven to support the supporting telescopic rod 34 to lift up and open, the adsorption disc 31 can be adsorbed on the wall of the pipeline, the whole position of the robot is fixed, the first air pump 82 works, the fan-shaped plate 51 is pushed to expand outwards to be attached to the wall of the pipeline, and when the robot is attached, the pressure detector 54 sends a signal, so that high-temperature gas in the steam box 13 is filled into the stain area to heat the stain area.
And thirdly, after the heating is finished, the second air pump 83 works to push the telescopic air rod 58 to expand outwards, so that the telescopic air rod 58 is attached to the wall of the pipeline, the electromagnet 60 works to attract and repel the magnet 59 in a reciprocating way, and the cleaning cloth 30 on the telescopic air rod 58 rotates back and forth on the wall of the pipeline to clean.
Fourthly, the first air pump 82 and the second air pump 83 work to enable the wiping mechanism 107 and the heat insulation isolation mechanism 106 to return to the original shapes, the hydraulic pump 24 works to enable the decontamination supporting mechanism 101 to retract to the containing cavity 70, the robot is stopped from being fixed, and then the first motor 36 works to drive the robot to continue to detect the pipeline.
The invention has the beneficial effects that: the thermal decontamination robot for the long pipeline and the decontamination method thereof can move in the pipeline, the motion mechanism can automatically attach to the wall of the pipeline when a turning angle is met, motion inspection is carried out, the robot cannot be clamped in the pipeline, the cleaning agent in the mechanism can be kept in a normal state, the utilization rate of the cleaning agent is improved, the work of frequently replacing the cleaning agent is avoided, and the practicability of the robot is improved.
It will be apparent to those skilled in the art that various modifications to the above embodiments can be made without departing from the general spirit and concept of the invention. All falling within the scope of protection of the present invention. The protection scheme of the invention is subject to the appended claims.
Claims (7)
1. The utility model provides a thermal scrubbing robot of long pipeline, includes central organism, its characterized in that: the steam cleaning device comprises a center machine body, a steam box, a rotating box, a cleaning agent box, a detection mechanism, a heat-preservation isolation mechanism, a steam box and a steam heating and spraying device, wherein the left side and the right side of the center machine body are respectively hinged with the rotating boxes through hinged rods, the upper side and the lower side of the two rotating boxes are respectively provided with a decontamination supporting mechanism, the decontamination supporting mechanism is used for supporting and stabilizing the rotating boxes, a hydraulic rod is connected between the upper decontamination supporting mechanism and the lower decontamination supporting mechanism and can slide and stretch up and down, one end, close to each other, of the two hydraulic rods is connected with a hydraulic pump, the motion supporting mechanism is arranged between the two rotating boxes and is vertically symmetrical to support the two rotating boxes, the front side and the rear side of the center machine body are respectively provided with a motion mechanism, the motion mechanisms are used for driving the two rotating boxes to move forward or backward, the rotating boxes are provided with a cleaning agent box on the left side, the cleaning agent box is used for storing cleaning agents, the left end surface of the rotating box on the left side is provided with a detection mechanism, the detection mechanism is used for detecting whether stains exist, the right side of the rotating box is provided with the heat-preservation isolation mechanism, the heat-preservation isolation mechanism is used for cleaning the stains in the steam box, and the steam box is used for heating and spraying;
the movement mechanism comprises two first fixed blocks fixedly arranged on the front side face and the rear side face of the rotation box, each first fixed block is internally and fixedly provided with a sliding block in a front-back sliding mode, the left end and the right end of each first motor are respectively and dynamically connected with a telescopic rod, the telescopic rods can stretch left and right, extend into the corresponding sliding blocks, are respectively and rotatably provided with a shaft, the top end of each shaft is in power connection with the corresponding telescopic rod through a bevel gear set, the bottom ends of the two shafts are respectively and fixedly provided with a power wheel, the periphery of each shaft is rotatably provided with two rollers, the periphery of each roller is fixedly provided with a first connecting rod, the front side face and the rear side face of the rotation box are respectively provided with a first sliding cavity, one end of each first connecting rod is fixedly provided with a first sliding pin, the first sliding pins are slidably arranged in the first sliding cavities, an elastic rod is fixedly arranged between each first connecting rod and the corresponding rotation box and used for lifting up the power wheels, and a wire is wound between the cleaning agent box and the two power wheels.
2. The thermal decontamination robot for long pipes according to claim 1, characterized in that: the scrubbing supporting mechanism is including seting up two rotate the chamber of accomodating on the face of case both sides, every it all slides from top to bottom in the intracavity to accomodate is equipped with the second fixed block, every the second fixed block with correspond hydraulic stem fixed connection, rotate the second connecting rod that is equipped with two bilateral symmetry on the second fixed block, accomodate the intracavity and rotate the support telescopic link that is equipped with bilateral symmetry, two the one end that supports the telescopic link and keep away from each other is fixed rotate the incasement, it is scalable to support the telescopic link, two the one end that supports the telescopic link and draw close to each other all sets firmly the adsorption disc, two the equal hinged joint of the other end of second connecting rod supports the telescopic link.
3. The thermal decontamination robot for long pipes according to claim 2, characterized in that: the movement supporting mechanism comprises pressing rods which are vertically arranged on the central machine body, a supporting wheel is arranged between the two pressing rods in a rotating mode, a first spring telescopic rod is fixedly arranged on the left side and the right side of each pressing rod, a first supporting rod is fixedly arranged at the other end of the first spring telescopic rod on the left side, a second sliding cavity is fixedly arranged at the other end of the first supporting rod, second sliding pins are respectively arranged on the upper side and the lower side of each rotating box, the second sliding cavities are slidably arranged in the second sliding pins, a second supporting rod is fixedly arranged at the other end of the pressing rod on the right side, and the second supporting rod is fixedly arranged on the rotating box on the right side.
4. The thermal decontamination robot for long pipes according to claim 3, characterized in that: the detection mechanism comprises a third fixing block fixedly arranged on the left side of the rotating box, a second motor is fixedly arranged in the third fixing block, the left side of the second motor is dynamically connected with a threaded rod extending leftwards, a threaded block is connected to the periphery of the threaded rod in a threaded fit mode, electric lamps are fixedly arranged at the upper end and the lower end of the threaded block, a panoramic camera is fixedly arranged on the left side of the threaded block, baffle plates are hinged to the upper side and the lower side of the third fixing block and used for protecting the panoramic camera and the electric lamps from being interfered by stains, the left side is located, sprinklers with a plurality of uniformly distributed sprinklers are arranged on the periphery of the rotating box, the sprinklers are connected with the detergent boxes through hoses, third connecting rods are hinged to the upper side and the lower side of the threaded block, and the third connecting rods are hinged to the baffle plates.
5. The thermal decontamination robot for long pipes according to claim 4, characterized in that: heat preservation isolator constructs includes two first discs, is located left first disc is fixed on the right side rotate the case on, be located left the fifth connecting rod has set firmly on the first disc, the right-hand member of fifth connecting rod articulates through spherical hinge has the fourth connecting rod, the fourth connecting rod is with another first disc is fixed, the upper and lower both sides of fourth connecting rod have set firmly a fourth fixed block, two it has a second spring telescopic link to articulate on the fourth fixed block, the other end sliding connection of second spring telescopic link is in the periphery of fifth connecting rod, be used for the adjustment the fifth connecting rod with angle between the fourth connecting rod makes the robot pass through the mouth that turns round in the pipeline, every all slide in the periphery of first disc and is equipped with the sector plate that circular array distributes, every all be connected with a heat preservation membrane between two liang of sector plates, every all be equipped with first air pump in the first disc, first air pump is used for control the sector plate expandes or accomodates, every all set firmly pressure detector on the fan-shaped lateral surface of first disc, pressure detector is used for the work of response air, control first pump.
6. The thermal decontamination robot for long pipes according to claim 5, characterized in that: the wiping mechanism comprises a second disc fixedly arranged on the periphery of a fifth connecting rod, four telescopic air rods which are uniformly distributed are rotatably arranged on the periphery of the second disc, a cleaning rag is fixedly arranged on each telescopic air rod and can stretch out and draw back, the cleaning rag is used for removing stains, a second air pump is fixedly arranged in the second disc, the second air pump is communicated with the four telescopic air rods, one of the telescopic air rods is fixedly provided with a magnet, one of the second disc is fixedly provided with an electromagnet, and a spring is connected between the magnet and the electromagnet.
7. The decontamination method for a long-pipe thermal decontamination robot according to claim 6, characterized in that:
the method comprises the following steps that firstly, a robot is placed in a long pipeline, the robot is started to work, a second motor works to enable a threaded rod to rotate to drive two baffles to be opened, an electric lamp and a panoramic camera work to shoot a photo to detect stains in the pipeline, the first motor works to drive power wheels on the left side and the right side of a central machine body to rotate to control the robot to move in the pipeline for detection, meanwhile, ropes on the power wheels enable a cleaning agent box to rotate to stir cleaning agents, the cleaning agent cleaning effect is prevented from being reduced due to long-term non-use of the cleaning agents, when a turning opening is met, first spring telescopic rods can actively stretch and retract according to the radius of the pipeline, the power wheels on the front side and the rear side are enabled to be attached to the inner wall of the pipeline, the rotating boxes on the left side and the right side can swing on the central machine body, the robot is prevented from being locked at the turning position, and when the robot needs to turn, the power wheels on the front side and the rear side can automatically adjust and attach to the inner wall of the pipeline according to elasticity of an elastic rod to move;
secondly, when stains are detected, the stains are sprayed onto the inner wall of the pipeline through a sprayer, then the first motor controls the robot to move, the heat-insulation isolation mechanism on the rear side is aligned to a stain area, the hydraulic pump works to enable the hydraulic rod to move outwards of the robot and drive the second fixing block to move outwards, so that the second connecting rod is driven to support the telescopic rod to lift and open, the adsorption disc can be adsorbed on the wall of the pipeline, the whole position of the robot is fixed, the first air pump works to push the sector plates to expand outwards and cling to the wall of the pipeline, and when the sector plates cling to the wall of the pipeline, the pressure detector sends a signal to enable high-temperature gas in the steam box to fill the stain area and heat the stain area;
thirdly, after the heating is finished, the second air pump works to push the telescopic air rod to expand outwards to enable the telescopic air rod to be attached to the wall of the pipeline, the electromagnet works to attract and repel the magnet in a reciprocating mode, and cleaning rags on the telescopic air rod rotate back and forth on the wall of the pipeline to be cleaned;
and fourthly, the first air pump and the second air pump work to enable the wiping mechanism and the heat-preservation isolation mechanism to return to the original shape, the hydraulic pump works to enable the decontamination supporting mechanism to retract to the accommodating cavity, the robot is stopped to be fixed, and then the first motor works to drive the robot to continue to detect the pipeline.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110650575.8A CN113522891B (en) | 2021-06-11 | 2021-06-11 | Thermal decontamination robot for long pipeline and decontamination method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110650575.8A CN113522891B (en) | 2021-06-11 | 2021-06-11 | Thermal decontamination robot for long pipeline and decontamination method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113522891A CN113522891A (en) | 2021-10-22 |
| CN113522891B true CN113522891B (en) | 2022-12-20 |
Family
ID=78124832
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110650575.8A Expired - Fee Related CN113522891B (en) | 2021-06-11 | 2021-06-11 | Thermal decontamination robot for long pipeline and decontamination method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113522891B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114237129B (en) * | 2021-12-22 | 2022-07-01 | 深圳市浩瑞泰科技有限公司 | Water purification plant sewage discharge channel device and monitoring system thereof |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19818306C2 (en) * | 1998-04-23 | 2000-04-27 | Intega Hans J Jehl Gmbh | Device and method for pressure swing flushing |
| JP2004108714A (en) * | 2002-09-20 | 2004-04-08 | Shinko Kk | Method and device for removing contaminated part on internal wall face of cylindrical structure |
| CN101927248A (en) * | 2009-06-24 | 2010-12-29 | 中国石油大学(华东) | Gas-liquid two phase jet flow heat insulation pipe cleaning device |
| CN104646362B (en) * | 2014-12-31 | 2017-01-25 | 浙江大学 | Multifunctional jet flow pipe cleaner |
| CN106513390B (en) * | 2016-12-20 | 2022-06-07 | 鞍钢栗田(鞍山)水处理有限公司 | Pipeline cleaning method and remote control rotary cleaning type pipeline cleaning robot used in same |
| CN108580462B (en) * | 2018-05-22 | 2021-05-07 | 巢湖学院 | Composite adjustable pipeline cleaning device |
| CN109174851A (en) * | 2018-09-06 | 2019-01-11 | 冯小宇 | One kind can turn tube cleaning device people |
| CN108941087A (en) * | 2018-09-19 | 2018-12-07 | 榆林学院 | A kind of packaged type pipe cleaning device |
| CN209476863U (en) * | 2018-12-10 | 2019-10-11 | 张立军 | A kind of petroleum pipeline cleaner for inner wall |
| CN111533343B (en) * | 2020-05-12 | 2021-01-01 | 上海市政工程设计研究总院（集团）有限公司 | Telescopic arm type water purifying and dredging device |
-
2021
- 2021-06-11 CN CN202110650575.8A patent/CN113522891B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN113522891A (en) | 2021-10-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101406890B (en) | Cleaner for inner cavity of cylinder | |
| CN113522891B (en) | Thermal decontamination robot for long pipeline and decontamination method thereof | |
| CN113154181B (en) | Flexible robot for pipeline detection and maintenance | |
| JP4752013B2 (en) | Cleaning device for heat exchanger of ceiling mounted air conditioner | |
| CN106090957A (en) | A kind of towed chimney cleaning plant and method for cleaning | |
| CN111215394A (en) | Novel laser type cleaning equipment | |
| CN113441501A (en) | Intelligent storage tank detection cleaning robot | |
| CN113477632A (en) | Power plant's chimney inner wall belt cleaning device | |
| CN201291216Y (en) | Cylinder inner-cavity cleaner | |
| CN111426080B (en) | Cleaning method of solar heat pipe heating device | |
| CN108435700A (en) | Rotary super-sonic cleaning machine | |
| CN116237189A (en) | Cable fireproof paint spraying device | |
| CN109106292A (en) | A kind of robot for cleaning floor | |
| CN116499759A (en) | Quick detection device of aeroengine turbine blade | |
| CN111426158B (en) | Solar-powered heat-supply oven with observation window for producing transformer | |
| CN210688975U (en) | Medical instrument drying device | |
| CN211989813U (en) | Photovoltaic solar panel stain non-damage cleaning robot | |
| CN208025020U (en) | A kind of robot for solving duct cleaning | |
| CN207577090U (en) | A kind of robot of electric power cleaning | |
| CN105817454A (en) | Cleaning machine for cylinder barrel of oil cylinder | |
| CN209393652U (en) | A kind of bearing ball surface cleaning apparatus | |
| CN111426071B (en) | Reflecting tracking solar heat pipe heating device | |
| CN116174410B (en) | Laser cleaning machine | |
| CN220434142U (en) | Waterproof treatment device | |
| CN221109123U (en) | Machining equipment belt cleaning device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20221201 Address after: 315699 No. 23, Huancheng East Road, Yuelong street, Ninghai County, Ningbo City, Zhejiang Province Applicant after: State Grid Zhejiang Electric Power Co., Ltd. Ninghai County power supply Co. Address before: 361000 room 905-2, No. 707, Hu'an Road, Huli District, Xiamen City, Fujian Province Applicant before: Xiamen fengjinxi Trading Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20221220 |