CN112474643B - Cleaning and detecting equipment for inner wall of insulating hollow sleeve and sleeve cleaning method - Google Patents
Cleaning and detecting equipment for inner wall of insulating hollow sleeve and sleeve cleaning method Download PDFInfo
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- CN112474643B CN112474643B CN202011268800.3A CN202011268800A CN112474643B CN 112474643 B CN112474643 B CN 112474643B CN 202011268800 A CN202011268800 A CN 202011268800A CN 112474643 B CN112474643 B CN 112474643B
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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
- B08B9/04—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
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- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The application discloses cleaning and detecting equipment for the inner wall of an insulating hollow sleeve, when the sleeve with continuously variable diameter is cleaned, a traveling system can shrink or stretch along with the change of the pipe diameter, so that the condition of the pipe diameter change of a cable sleeve is adapted, the self-adaptive traveling in the pipe is further completed, the cleaning system is advanced along with the traveling part, and the cleaning head is always attached to the inner wall of the sleeve by the tension provided by a compression spring, so that the cleaning work for the inner wall of the sleeve with the variable inner diameter is completed.
Description
Technical Field
The application relates to the technical field of pipeline cleaning, in particular to cleaning and detecting equipment for the inner wall of an insulating hollow sleeve and a sleeve cleaning method.
Background
The inner wall pipe diameter of the current large cable sleeve generally changes within phi 270-phi 600, and the inner wall surface is an inner conical surface of phi 270-phi 600 or a combination of a plurality of discontinuous inner conical surfaces. When the sleeve is installed, the inner wall of the sleeve needs to be cleaned, so that impurities such as dirt, dust and tiny particles on the inner wall are ensured to be clean, and the insulation safety under high voltage and ultrahigh voltage is ensured. Conventional cleaning equipment has difficulty in adapting to the pipe diameter. Therefore, the current large-scale cable terminal sleeve is still cleaned by adopting a manual cleaning mode, so that the manual cleaning is difficult and low-efficiency, and in order to prevent the carrying of dirt into a pipeline or the secondary pollution, the whole body needs to be wrapped with a preservative film in advance and then enters into a long and narrow pipeline for cleaning, the operation space is limited, and the comprehensive cleaning cannot be realized.
Disclosure of Invention
The present application aims to solve at least one of the technical problems existing in the prior art. Therefore, the application provides cleaning and detecting equipment for the inner wall of the insulating hollow sleeve, which can clean the sleeve with the variable diameter.
The application also discloses a method for cleaning the sleeve by using the cleaning and detecting equipment for the inner wall of the insulating hollow sleeve.
According to the first aspect of the application, the cleaning and detecting equipment for the inner wall of the insulating hollow sleeve comprises a traveling system and a cleaning system, wherein the traveling system comprises a power device, a driving wheel traveling device, a reducing adjusting device and a driven wheel traveling mechanism, and the cleaning system comprises a second shaft and a plurality of groups of mechanical arms;
one end of the power device is provided with a mounting seat, and the other end of the power device is provided with a first shaft lever;
the driving wheel travelling device comprises a plurality of groups of driving wheel travelling mechanisms, each group of driving wheel travelling mechanisms comprises a driving wheel and a first connecting rod, one end of each first connecting rod is hinged with the mounting seat, the other end of each first connecting rod is connected with the driving wheel, and the power device is in transmission connection with the driving wheel to drive the driving wheel to travel;
the reducing adjusting device comprises a plurality of groups of reducing mechanisms, each group of reducing mechanisms comprises a second connecting rod, a first adjusting rod and a regulating and controlling system, a first fixed seat and a first sliding seat are arranged on the first shaft rod at intervals, the first fixed seat is fixedly arranged on the first shaft rod, the first sliding seat is movably arranged on the first shaft rod, one end of the second connecting rod is hinged with the first fixed seat, one end of the first adjusting rod is hinged with the first sliding seat, the other end of the first adjusting rod is hinged with the middle part of the second connecting rod, and the regulating and controlling system is connected with the first sliding seat to control the first sliding seat to move along the first shaft rod;
the driven wheel travelling mechanism comprises a third connecting rod and a driven wheel, one end of the third connecting rod is hinged with the other end of the second connecting rod, the other end of the third connecting rod is hinged with the middle part of the first connecting rod, and the driven wheel is arranged on the third connecting rod;
one end of the second shaft rod is arranged at the end part of the mounting seat and is rotatably connected with the power device, a bearing platform is arranged at the other end of the second shaft rod, a second fixing seat and a second sliding seat are sequentially arranged on the second shaft rod from the power device to the bearing platform, the second fixing seat is fixedly connected with the second shaft rod, the second sliding seat is connected with the second shaft rod and can move along the second shaft rod, a compression spring is arranged between the second sliding seat and the bearing platform, and the compression spring is sleeved on the second shaft rod;
the multiunit robotic arm ring is established on the second shaft, every robotic arm all includes cleaning head, bracing piece and second regulation pole, the one end of bracing piece with the cleaning head articulates, the other end with the second fixing base articulates, the one end of second regulation pole with the middle part of bracing piece articulates, the other end with the second sliding seat articulates.
The cleaning and detecting equipment for the inner wall of the insulating hollow sleeve provided by the embodiment of the application has at least the following beneficial effects: when the sleeve pipe with the continuous reducing diameter is cleaned, the running system can shrink or stretch along with the change of the pipe diameter, so that the condition of the change of the pipe diameter of the cable sleeve pipe is adapted, the self-adaptive running in the pipe is further completed, the cleaning system advances along with the running system, and the cleaning head is always attached to the inner wall of the sleeve pipe through the tension force provided by the compression spring, so that the cleaning work of the inner wall of the sleeve pipe with the changed inner diameter is completed.
According to some embodiments of the application, the regulating system comprises a stepping motor and a pressure sensor, the first shaft rod is a ball screw, the first sliding seat is a screw nut arranged on the ball screw, the ball screw is in transmission connection with the stepping motor, the pressure sensor is arranged on the first regulating rod and used for monitoring the pressure born by the first regulating rod, and the pressure sensor is in electric control connection with the stepping motor.
According to some embodiments of the application, the regulating system comprises a regulating spring and a baffle, the baffle is fixedly arranged on the first shaft rod, the first sliding seat is positioned between the baffle and the first fixing seat, the regulating spring is arranged between the baffle and the first sliding seat, and the regulating spring is sleeved on the first shaft rod.
According to some embodiments of the application, the driven wheel is connected with the third connecting rod through a fine adjustment mechanism, the fine adjustment mechanism comprises a spring mounting seat, a guide rod and a fine adjustment spring, the spring mounting seat is mounted on the third connecting rod, the guide rod is vertically arranged on the spring mounting seat, a guide hole is formed in a base of the driven wheel, the driven wheel is movably connected with the guide rod through the guide hole, the fine adjustment spring is arranged between the driven wheel and the spring mounting seat, one end of the fine adjustment spring is connected with the base of the driven wheel, and the other end of the fine adjustment spring is connected with the spring mounting seat.
According to some embodiments of the application, the cleaning head comprises a base, a mounting base and a quick bolt, wherein the base comprises a bottom plate and fixing mounting plates extending upwards are arranged at two ends of the bottom plate, pin holes penetrating through the plate surface are formed in the fixing mounting plates, mounting grooves are formed in the two fixing mounting plates and the bottom plate in a surrounding mode, a wiping piece covers the upper surface of the mounting base and is mounted and fixed through the fixing piece, the mounting base is mounted in the mounting grooves, connecting holes corresponding to the pin holes are formed in two ends of the mounting base, and the quick bolt is fixedly inserted into the connecting holes after penetrating through the pin holes so as to mount the mounting base and the base together.
According to some embodiments of the application, the cross section of the wiper is arched, the fixing member comprises two fixing plates, the fixing plates are provided with mounting holes, and a connecting nut passes through the mounting holes to clamp the two fixing plates on two sides of the wiper.
According to some embodiments of the application, the wiper is a soft backing.
According to some embodiments of the application, bearings are provided on the outside of both the fixed mounting plates, the difference in height between the upper ends of the bearings and the upper ends of the wipers being less than the compression limit of the wipers.
According to some embodiments of the application, a monitoring system for monitoring cleaning of the interior of the casing is also included, the monitoring system being electrically connected to the power plant.
According to some embodiments of the application, the auxiliary support rod is arranged in parallel with the support rod, one end of the auxiliary support rod is hinged with the bottom plate through the connecting lug, the other end of the auxiliary support rod is hinged with an auxiliary fixing seat, and the auxiliary fixing seat is fixedly connected to the second shaft rod.
A method of cleaning a cannula according to an embodiment of the second aspect of the present application comprises the steps of:
step S1, cleaning and detecting equipment of the inner wall of the insulating hollow sleeve of the embodiment of the first aspect is arranged in the sleeve from one side of the big end of the sleeve; s2, starting the power device by the controller, and circularly and repeatedly cleaning the inner wall of the sleeve from the large end to the small end of the sleeve; step 3, monitoring the cleaning condition of the inner wall of the sleeve and the state of the cleaning head through a monitoring system, judging whether the cleaning head needs to be replaced, stopping the device at the large end of the sleeve if the cleaning head needs to be replaced, updating the cleaning head, starting the machine again after replacement, and circulating until the cleaning effect meets the requirement; and S4, taking the equipment out of the sleeve after cleaning is finished, and manually ending and supplementing at the two ends of the sleeve so as to eliminate the places where the two ends possibly cannot be cleaned in place.
The sleeve cleaning method provided by the embodiment of the application has at least the following beneficial effects: the application cleans the sleeve by using the cleaning and detecting equipment of the inner wall of the insulating hollow sleeve, can automatically adapt to the change of the diameter of the sleeve, improves the cleaning efficiency and the cleaning quality of the sleeve, and reduces the labor intensity.
Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic diagram of the overall structure of a cleaning and detecting device for the inner wall of an insulating hollow sleeve according to an embodiment of the present application;
FIG. 2 is a schematic diagram of the structure of the walking system;
FIG. 3 is a schematic view of an embodiment of a variable diameter adjustment device;
FIG. 4 is a schematic illustration of the connection between the driven wheel and the fine adjustment mechanism;
FIG. 5 is a schematic view of the cleaning system in an expanded state;
FIG. 6 is a right side view of FIG. 5;
FIG. 7 is a schematic view of the cleaning system in a contracted state;
FIG. 8 is a right side view of FIG. 7;
FIG. 9 is an exploded view of the cleaning head;
FIG. 10 is a top view of the cleaning head;
fig. 11 is a cross-sectional view taken along A-A in fig. 10.
Reference numerals:
the power device 1100, the mounting base 1110, the first shaft 1120, the first fixed base 1121, the first sliding base 1122;
a driving wheel 1210 and a first connecting rod 1220;
a second link 1310, an adjustment rod 1320;
third link 1410, driven wheel 1420;
an adjusting spring 1610, a shutter 1620;
spring mount 1710, guide rod 1720, and trim spring 1730;
the cleaning head 2100, base 2110, floor 2111, stationary mounting plate 2112, pin holes 21121, attachment lugs 2113, attachment lug holes 21131, mounting block 2120, attachment holes 2121, quick connect pins 2130, force applying portion 2131, wiper 2140, stationary plate 2150, mounting hole 2151, attachment nuts 2160, bearings 2170;
the second shaft 2200, the second fixed seat 2210, the second sliding seat 2220 and the bearing platform 2230;
the auxiliary support rod comprises a support rod 2300, an adjusting rod 2400, an auxiliary support rod 2500, an auxiliary fixing seat 2600, a coupler 2700 and a compression spring 2800.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the application.
In the description of the present application, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present application and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.
In the description of the present application, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present application, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present application can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
In addition, the technical solutions of the embodiments of the present application may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of protection claimed by the present application.
A cleaning and detecting apparatus for an inner wall of an insulating hollow bushing according to an embodiment of the present application will be described with reference to fig. 1 to 11.
As shown in fig. 1 to 8, the cleaning and detecting apparatus for the inner wall of the insulating hollow casing according to the embodiment of the present application includes a traveling system including a power unit 1100, a driving wheel traveling unit, a reducing adjusting unit, and a driven wheel traveling unit, and a cleaning system including a second shaft and a plurality of groups of robot arms;
one end of the power device 1100 is provided with a mounting seat 1110, and the other end is provided with a first shaft 1120;
the driving wheel traveling device comprises a plurality of groups of driving wheel traveling mechanisms, each group of driving wheel traveling mechanisms comprises a driving wheel 1210 and a first connecting rod 1220, one end of the first connecting rod 1220 is hinged with the mounting seat 1110, the other end of the first connecting rod is connected with the driving wheel 1210, and the power device 1100 is in transmission connection with the driving wheel 1210 to drive the driving wheel 1210 to travel;
the reducing adjusting device comprises a plurality of groups of reducing mechanisms, each group of reducing mechanisms comprises a second connecting rod 1310, a first adjusting rod 1320 and a regulating and controlling system, a first fixed seat 1121 and a first sliding seat 1122 are arranged on a first shaft 1120 at intervals, the first fixed seat 1121 is fixedly arranged on the first shaft 1120, the first sliding seat 1122 is movably arranged on the first shaft 1120, one end of the second connecting rod 1310 is hinged with the first fixed seat 1121, one end of the first adjusting rod 1320 is hinged with the first sliding seat 1122, the other end of the second adjusting rod 1320 is hinged with the middle part of the second connecting rod 1310, and the regulating and controlling system is connected with the first sliding seat 1122 to control the first sliding seat 1122 to move along the first shaft 1120;
the driven wheel traveling mechanism comprises a third connecting rod 1410 and a driven wheel 1420, wherein one end of the third connecting rod 1410 is hinged with the other end of the second connecting rod 1310, the other end of the third connecting rod 1410 is hinged with the middle part of the first connecting rod 1220, and the driven wheel 1420 is arranged on the third connecting rod 1410;
one end of the second shaft 2200 is arranged at the end part of the mounting seat 1110 and is rotatably connected with the power device 1100, the other end of the second shaft 2200 is provided with a bearing platform 2230, a second fixed seat 2210 and a second sliding seat 2220 are sequentially arranged on the second shaft 2200 from the power device 1100 to the bearing platform 2230, the second fixed seat 2210 is fixedly connected with the second shaft 2200, the second sliding seat 2220 is connected with the second shaft 2200 and can move along the second shaft 2200, a compression spring 2800 is arranged between the second sliding seat 2220 and the bearing platform 2230, and the compression spring 2800 is sleeved on the second shaft 2200;
the multiunit robotic arm ring is established on the second shaft 2200, and each robotic arm all includes cleaning head 2100, bracing piece 2300 and second regulation pole 2400, and the one end of bracing piece 2300 articulates with cleaning head 2100, and the other end articulates with second fixing base 2210, and the one end of second regulation pole 2400 articulates with the middle part of bracing piece 2300, and the other end articulates with second sliding seat 2220.
When cleaning the sleeve pipe of continuous reducing, traveling system can shrink or extend along with the change of pipe diameter to adaptation cable sleeve pipe diameter changes the condition, and then accomplish at intraductal self-adaptation walking, cleaning system is along with traveling part advancing, through the tensioning force that compression spring provided, makes the cleaning head remain laminating with sheathed tube inner wall all the time, thereby accomplishes the sheathed tube inner wall cleaning work to the internal diameter change.
Specifically, when the whole device is cleaned along the direction that the diameter of the sleeve is continuously reduced, the power device 1100 provides power to drive the driving wheel 1210 to walk in the sleeve. During walking, the pressure between the driving wheel 1210 and the driven wheel 1420 and the pipe wall is increased along with the continuous decrease of the pipe diameter. When the pressure increase is detected by the regulating device, the first sliding seat 1122 is controlled to move towards a direction away from the first fixed seat 1121, and along with the movement of the first sliding seat 1122, the third connecting rod 1410 is driven to move towards the first shaft lever 1120 sequentially through the regulating rod 1320 and the second connecting rod 1310, so that the driven wheel 1420 and the driving wheel 1210 move in a shrinking manner, and the whole running system continuously shrinks, so that the condition that the pipe diameter continuously decreases is adapted.
During the cleaning process, the power device 1100 drives the second shaft 2200 to rotate (the second shaft 2200 is connected with the motor through the coupling 2700 to drive the second shaft 2200 to rotate), and the cleaning head 2100 at the end of the support rod 2300 cleans and scrubs the entire inner wall of the casing. When the cleaning system advances in the sleeve to clean, the cleaning head 2100 is pressed to transmit pressure to the support rod 2300 along with the continuous reduction of the pipe diameter, the support rod 2300 is pressed down, the support rod 2300 rotates around the fixed seat 2210, and gradually moves from the vertical state to the horizontal state. During the pressing down of the support rod 2300, a force is transmitted to the compression spring 2800 through the adjustment rod 2400, and the compression spring 2800 is forced to contract. The cleaning system can automatically adapt to the change of the diameter of the sleeve without external force in the whole process, thereby completing the cleaning of the inner wall of the whole sleeve. Theoretically, the cleaning device can adapt to cleaning work of variable-diameter bushings with various pipe diameters through certain design adjustment.
And when the device is cleaned along the direction that the diameter of the sleeve is continuously increased. During walking, as the pipe diameter becomes larger, the pressure between the driving wheel 1210 and the driven wheel 1420 and the pipe wall decreases. After the pressure is monitored to be reduced by the regulating and controlling device, the first sliding seat 1122 is controlled to move towards the direction close to the first fixed seat 1121, and along with the movement of the first sliding seat 1122, the third connecting rod 1410 is driven to move away from the first shaft lever 1120 sequentially through the regulating rod 1320 and the second connecting rod 1310, so that the driven wheel 1420 and the driving wheel 1210 stretch outwards, and the running system stretches continuously, so that the condition that the pipe diameter is increased continuously is adapted.
When the cleaning system cleans along the direction that the pipe diameter of the sleeve is continuously increased, the compression spring 2800 is extended to push the second sliding seat 2220 to move towards the second fixing seat 2210, and the supporting rod 2300 is gradually opened.
As shown in fig. 2, in some embodiments of the present application, the regulation system includes a stepper motor and a pressure sensor, the first shaft 1120 is a ball screw, the first sliding seat 1122 is a screw nut disposed on the ball screw, the ball screw is in transmission connection with the stepper motor, the pressure sensor is disposed on the first regulating rod 1320 for monitoring the pressure born by the first regulating rod 1320, and the pressure sensor is in electrical control connection with the stepper motor.
As the running system runs inside the tube, the driven wheel 1420 and the driving wheel 1210 are subject to constantly changing pressure from the tube wall. After the pressure sensor arranged on the first adjusting rod 1320 detects that the pressure is continuously increased, the stepping motor rotates forward after receiving the electric signal, so as to drive the ball screw to rotate forward, and the screw nut on the ball screw moves linearly on the ball screw, so that the contraction or the expansion is controlled through the four-bar mechanism. Always ensures that the pressure between the driven wheel 1420 and the driving wheel 1210 and the pipe wall is kept in a relatively stable range, thereby adapting to the change of pipe diameter.
As shown in fig. 3, in some embodiments of the present application, the regulation system includes an adjustment spring 1610 and a baffle 1620, the baffle 1620 is fixed on the first shaft 1120, the first sliding seat 1122 is located between the baffle 1620 and the first fixed seat 1121, the adjustment spring 1610 is disposed between the baffle 1620 and the first sliding seat 1122, and the adjustment spring 1610 is sleeved on the first shaft 1120.
In this embodiment, when the running system runs along the direction that the pipe diameter of the sleeve is continuously reduced, the driven wheel 1420 and the driving wheel 1210 receive pressure increase from the pipe wall, press the four-bar mechanism to shrink, and the adjusting spring 1610 receives pressure increase to adaptively shrink, so that the whole running system shrinks.
And when the travelling system travels along the direction of continuously increasing the diameter of the sleeve pipe. The driven wheel 1420 and the driving wheel 1210 are subjected to pressure reduction from the pipe wall, and the adjusting spring 1610 is subjected to pressure reduction and gradually stretches to push the four-bar mechanism to stretch, so that the whole walking system stretches outwards. By providing the adjusting spring 1610, the driven wheel 1420 and the driving wheel 1210 are balanced by the pressure from the pipe wall and the elastic force between the adjusting springs 1610, so as to automatically adapt to the change of the pipe diameter, and the structure of the embodiment is simpler than that of adopting a stepping motor and a ball screw.
As shown in fig. 2 and 4, in some embodiments of the present application, the driven wheel 1420 is connected to the third link 1410 through a fine adjustment mechanism, which includes a spring mount 1710, a guide rod 1720 and a fine adjustment spring 1730, the spring mount 1710 is mounted on the third link 1410, the guide rod 1720 is vertically disposed on the spring mount 1710, a guide hole is provided on a base of the driven wheel 1420, the driven wheel 1420 is movably connected to the guide rod 1720 through the guide hole, the fine adjustment spring 1730 is disposed between the driven wheel 1420 and the spring mount 1710, one end of the fine adjustment spring 1730 is connected to the base of the driven wheel 1420, and the other end is connected to the spring mount 1710.
The running system is required to ensure that the driven wheel 1420 and the driving wheel 1210 always maintain contact with the pipe wall during the running process in the pipe. In the four-bar linkage mechanism adopted by the application, after the position of one bar is changed, the positions of other bars are linked. Therefore, the driven wheel 1420 and the driving wheel 1210 are simultaneously contracted or expanded on the same line, and thus the inclination angle of the line between the driven wheel 1420 and the driving wheel 1210 is fixed. Can only be used with the sleeve with corresponding pipe diameter change. When the taper of the inner diameter of the sleeve is different for the sleeves with different pipe diameters, the contact between the driven wheel 1420 and the pipe wall may occur, and the driving wheel 1210 is in a suspended state; or the driving wheel 1210 is in contact with the pipe wall while the driven wheel 1420 is in a suspended state. Or the pipe diameter of the sleeve is not changed, but the pipe diameter of a section is reduced, and the pipe diameter of a section is increased, so that the adaptability adjustment is difficult.
To solve the above-mentioned situation, the present application further connects the driven wheel 1420 with the third link 1410 through the fine adjustment mechanism, so that the driven wheel 1420 itself has a certain automatic adjustment capability. When the sleeves with different pipe diameters are cleaned, the driven wheel 1420 can perform contraction or extension movement along the guide rod 1720 under the action of the fine adjustment spring 1730, so that the inclination angle of the connecting line between the driven wheel 1420 and the driving wheel 1210 is changed, the sleeves with different pipe diameters can be adapted, and the applicability and the universality of the running gear are improved.
As shown in fig. 9 to 11, in some embodiments of the present application, the cleaning head 2100 includes a base 2110, a mounting base 2120, and a quick-action plug 2130, the base 2110 includes a base 2111 and fixing mounting plates 2112 extending upward from both ends of the base 2111, the fixing mounting plates 2112 are provided with pin holes 21121 penetrating through the plate surface, the two fixing mounting plates 2112 and the base 2111 enclose a mounting groove, the upper surface of the mounting base 2120 is covered with a wiper 2140 and is mounted and fixed by a fixing member, the mounting base 2120 is mounted in the mounting groove, both ends of the mounting base 2120 are provided with connection holes 2121 corresponding to the pin holes 21121, and the quick-action plug 2130 is fixedly inserted into the connection holes 2121 after passing through the pin holes 21121 to mount the mounting base 2120 and the base 2110.
After cleaning the inner wall of the sleeve for a certain period of time, the surface of the wiper 2140 becomes dirty and needs to be replaced in order to ensure the cleaning quality. When replaced, the quick connect pin 2130 is pulled out, the base 2110 and the mounting block 2120 are separated, the mounting block 2120 is removed from the mounting groove, then a new mounting block 2120 is installed into the mounting groove, and the quick connect pin 2130 is inserted to complete the replacement of the cleaner head assembly. The replacement is convenient and quick, and the cleaning efficiency is improved.
In some embodiments of the application, the cross-section of the wiper 2140 is arcuate, and the mount includes two mount plates 2150, the mount plates 2150 being provided with mounting holes 2151, and the coupling nut 2160 passing through the mounting holes 2151 sandwiches the two mount plates 2150 on either side of the wiper 2140.
Wiper 2140 is arcuate in shape and is received on mounting block 2120 and clamps wiper 2140 to mounting block 2120 by providing a fixed plate 2150 on both sides. Specifically, in assembling wiper 2140 with mounting block 2120, wiper 2140 is first placed over mounting block 2120, then two fixed plates 2150 are placed on each side of wiper 2140, and then two fixed plates 2150 are coupled together by coupling nut 2160, thereby clamping wiper 2140 to mounting block 2120, and reversing the operation in order to disassemble wiper 2140 from mounting block 2120.
In a further embodiment of the application, the coupling nut 2160 is a wing nut. The use of the wing nut for the coupling nut 2160 facilitates manual threading during assembly of the wiper 2140 with the mounting block 2120 with minimal need for other tools, thereby improving ease of replacement.
In some embodiments of the application, the wipe 2140 is a soft backing. During cleaning of the inner wall of the cannula, the support rod 2300 applies a compressive force to the wiper 2140 such that the wiper 2140 is in close contact with the inner wall of the cannula, which provides a better wiping effect. The wiper 2140 is a soft liner that deforms to a degree when subjected to pressure, thereby providing a close contact with the inner wall of the sleeve and providing a better wiping action.
In a further embodiment of the application, bearings 2170 are provided on the outside of both stationary mounting plates 2112, the difference in height between the upper ends of bearings 2170 and the upper ends of wipers 2140 being less than the compression limit of wipers 2140.
When the cleaning head device cleans the sleeve, the wiper 2140 may be attached to the sleeve, but if the attaching force is too large, the friction between the wiper 2140 and the inner wall of the sleeve may be too large, the cleaning effect may be poor, and the wiper 2140 may be severely worn. By providing bearings 2170 on the outside of both mounting plates 2112, after some deformation of wiper 2140 occurs, bearings 2170 will contact the inner wall of the sleeve, preventing continued compressive deformation of wiper 2140, so that wiper 2140 receives a proper compressive force, and the force ratio between wiper 2140 and the inner wall of the sleeve is relatively proper.
Meanwhile, in the wiping process, rolling friction is also generated between the bearing 2170 and the inner wall of the sleeve, so that the friction force is small, and adverse effects caused by the cleaning process can be avoided.
The difference in height between the upper end of bearing 2170 and the upper end of wiper 2140 is determined according to the actual situation, depending on the compression limit at which wiper 2140 can be compressively deformed, thereby determining the installation position of bearing 2170.
In some embodiments of the present application, the outer end of the quick bolt 2130 is provided with a force-aid portion 2131. Through setting up borrow power portion 2131, be convenient for twist it at the quick bolt 2130 of cartridge, further improvement change efficiency.
In some embodiments of the present application, the bottom of the base plate 2111 is provided with a connection lug 2113, the connection lug 2113 is provided with a connection lug hole 21131, and the support rod 2300 is hinged to the base plate 2111 through the connection lug 2113.
In some embodiments of the present application, the auxiliary support rod 2500 is further included, the auxiliary support rod 2500 is disposed in parallel with the support rod 2300, one end of the auxiliary support rod 2500 is hinged to the bottom plate 2111 through the connection lug 2113, the other end is hinged to the auxiliary fixing seat 2600, and the auxiliary fixing seat 2600 is fixedly connected to the second shaft 2200. By providing the auxiliary support bar 2500, the support strength to the cleaning head 2100, the structural strength of the robot arm is improved.
In some embodiments of the present application, the power device 1100 and the driving wheel 1210 are in driving connection through a chain transmission mechanism. The power of the motor is transmitted to the chain wheel through the worm gear and the worm, and then the driving wheel 1210 is driven to walk through the chain wheel transmission.
In some embodiments of the application, the power plant 1100 includes a mounting housing and a power motor disposed within the mounting housing and a battery coupled to the power motor. The power motor and the battery are arranged in the installation shell, so that the safety protection performance of the equipment is improved, the battery provides electric energy for the whole equipment, the whole equipment is ensured not to provide power supply outside when walking in the pipe, and the independence of the equipment is improved.
In some embodiments of the application, a monitoring system for monitoring cleaning of the interior of the cannula is also included, the monitoring system being electrically connected to the power unit. The monitoring system mainly comprises an endoscope and a data transmission system, wherein the endoscope can monitor the cleaning condition in the pipe and transmit the cleaning condition to staff through wireless transmission, so that the staff can know the cleaning condition and make a cleaning plan according to the actual condition.
A method of cleaning a cannula according to an embodiment of the second aspect of the present application comprises the steps of:
step S1, cleaning and detecting equipment of the inner wall of the insulating hollow sleeve of the embodiment of the first aspect is arranged in the sleeve from one side of the big end of the sleeve;
s2, starting a power device by the controller, and circularly and repeatedly cleaning the inner wall of the sleeve from the large end to the small end of the sleeve;
step 3, monitoring the cleaning condition of the inner wall of the sleeve and the state of the cleaning head through a monitoring system, judging whether the cleaning head needs to be replaced, stopping the device at the large end of the sleeve if the cleaning head needs to be replaced, updating the cleaning head, starting the machine again after replacement, and circulating until the cleaning effect meets the requirement;
and S4, taking the equipment out of the sleeve after cleaning is finished, and manually ending and supplementing at the two ends of the sleeve so as to eliminate the places where the two ends possibly cannot be cleaned in place.
According to the sleeve cleaning method provided by the embodiment of the application, the sleeve is cleaned by utilizing the cleaning and detecting equipment of the inner wall of the insulating hollow sleeve, so that the sleeve cleaning method can automatically adapt to the change of the diameter of the sleeve, the cleaning efficiency and the cleaning quality of the sleeve are improved, and the labor intensity is reduced.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the application, the scope of which is defined by the claims and their equivalents.
Claims (9)
1. The cleaning and detecting equipment for the inner wall of the insulating hollow sleeve is characterized by comprising a traveling system and a cleaning system, wherein the traveling system comprises a power device, a driving wheel traveling device, a reducing adjusting device and a driven wheel traveling mechanism, and the cleaning system comprises a second shaft and a plurality of groups of mechanical arms;
one end of the power device is provided with a mounting seat, and the other end of the power device is provided with a first shaft lever;
the driving wheel travelling device comprises a plurality of groups of driving wheel travelling mechanisms, each group of driving wheel travelling mechanisms comprises a driving wheel and a first connecting rod, one end of each first connecting rod is hinged with the mounting seat, the other end of each first connecting rod is connected with the driving wheel, and the power device is in transmission connection with the driving wheel to drive the driving wheel to travel;
the reducing adjusting device comprises a plurality of groups of reducing mechanisms, each group of reducing mechanisms comprises a second connecting rod, a first adjusting rod and a regulating and controlling system, a first fixed seat and a first sliding seat are arranged on the first shaft rod at intervals, the first fixed seat is fixedly arranged on the first shaft rod, the first sliding seat is movably arranged on the first shaft rod, one end of the second connecting rod is hinged with the first fixed seat, one end of the first adjusting rod is hinged with the first sliding seat, the other end of the first adjusting rod is hinged with the middle part of the second connecting rod, and the regulating and controlling system is connected with the first sliding seat to control the first sliding seat to move along the first shaft rod;
the driven wheel travelling mechanism comprises a third connecting rod and a driven wheel, one end of the third connecting rod is hinged with the other end of the second connecting rod, the other end of the third connecting rod is hinged with the middle part of the first connecting rod, the driven wheel is connected with the third connecting rod through a fine adjustment mechanism, the fine adjustment mechanism comprises a spring mounting seat, a guide rod and a fine adjustment spring, the spring mounting seat is mounted on the third connecting rod, the guide rod is vertically arranged on the spring mounting seat, a guide hole is formed in a base of the driven wheel, the driven wheel is movably connected with the guide rod through the guide hole, the fine adjustment spring is arranged between the driven wheel and the spring mounting seat, one end of the fine adjustment spring is connected with the base of the driven wheel, and the other end of the fine adjustment spring is connected with the spring mounting seat;
one end of the second shaft rod is arranged at the end part of the mounting seat and is rotatably connected with the power device, a bearing platform is arranged at the other end of the second shaft rod, a second fixing seat and a second sliding seat are sequentially arranged on the second shaft rod from the power device to the bearing platform, the second fixing seat is fixedly connected with the second shaft rod, the second sliding seat is connected with the second shaft rod and can move along the second shaft rod, a compression spring is arranged between the second sliding seat and the bearing platform, and the compression spring is sleeved on the second shaft rod;
the multiunit robotic arm ring is established on the second shaft, every robotic arm all includes cleaning head, bracing piece and second regulation pole, the one end of bracing piece with the cleaning head articulates, the other end with the second fixing base articulates, the one end of second regulation pole with the middle part of bracing piece articulates, the other end with the second sliding seat articulates.
2. The device for cleaning and inspecting the inner wall of an insulating hollow sleeve according to claim 1, characterized in that: the regulating and controlling system comprises a stepping motor and a pressure sensor, wherein the first shaft rod is a ball screw, the first sliding seat is a screw nut arranged on the ball screw, the ball screw is in transmission connection with the stepping motor, the pressure sensor is arranged on the first regulating rod and used for monitoring the pressure born by the first regulating rod, and the pressure sensor is in electric control connection with the stepping motor.
3. The device for cleaning and inspecting the inner wall of an insulating hollow sleeve according to claim 1, characterized in that: the regulating and controlling system comprises a regulating spring and a baffle, wherein the baffle is fixedly arranged on the first shaft rod, the first sliding seat is positioned between the baffle and the first fixing seat, the regulating spring is arranged between the baffle and the first sliding seat, and the regulating spring is sleeved on the first shaft rod.
4. The device for cleaning and inspecting the inner wall of an insulating hollow sleeve according to claim 1, characterized in that: the cleaning head comprises a base, a mounting pedestal and a quick bolt, wherein the base comprises a bottom plate and fixed mounting plates which extend upwards are arranged at the two ends of the bottom plate, pin holes penetrating through the plate surface are formed in the fixed mounting plates, two fixed mounting plates and the bottom plate enclose into a mounting groove, a wiping piece covers the upper surface of the mounting pedestal and is mounted and fixed through the fixing piece, the mounting pedestal is mounted in the mounting groove, connecting holes corresponding to the pin holes are formed in the two ends of the mounting pedestal, and the quick bolt penetrates through the pin holes and is fixedly inserted into the connecting holes so as to mount the mounting pedestal and the base together.
5. The device for cleaning and inspecting the inner wall of an insulating hollow sleeve according to claim 4, characterized in that: the cross section of the wiping piece is arched, the fixing piece comprises two fixing plates, the fixing plates are provided with mounting holes, and the connecting nuts penetrate through the mounting holes to clamp the two fixing plates on two sides of the wiping piece.
6. The device for cleaning and inspecting the inner wall of an insulating hollow sleeve according to claim 4, characterized in that: the wiper is a soft liner.
7. The device for cleaning and inspecting the inner wall of an insulating hollow sleeve according to claim 6, characterized in that: the outer sides of the two fixed mounting plates are respectively provided with a bearing, and the height difference between the upper ends of the bearings and the upper ends of the wiping pieces is smaller than the compression limit of the wiping pieces.
8. The device for cleaning and inspecting the inner wall of an insulating hollow sleeve according to claim 1, characterized in that: the cleaning device also comprises a monitoring system for monitoring the cleaning condition inside the sleeve, and the monitoring system is electrically connected with the power device.
9. A method of cleaning a cannula comprising the steps of:
step S1, loading the cleaning and detecting equipment for the inner wall of the insulating hollow sleeve according to any one of claims 1 to 8 into the sleeve from one side of the large end of the sleeve;
s2, starting the power device by the controller, and circularly and repeatedly cleaning the inner wall of the sleeve from the large end to the small end of the sleeve;
step 3, monitoring the cleaning condition of the inner wall of the sleeve and the state of the cleaning head through a monitoring system, judging whether the cleaning head needs to be replaced, stopping the device at the large end of the sleeve if the cleaning head needs to be replaced, updating the cleaning head, starting the machine again after replacement, and circulating until the cleaning effect meets the requirement;
and S4, taking the equipment out of the sleeve after cleaning is finished, and manually ending and supplementing at the two ends of the sleeve so as to eliminate the places where the two ends possibly cannot be cleaned in place.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011268800.3A CN112474643B (en) | 2020-11-13 | 2020-11-13 | Cleaning and detecting equipment for inner wall of insulating hollow sleeve and sleeve cleaning method |
| PCT/CN2021/085530 WO2022099985A1 (en) | 2020-11-13 | 2021-04-06 | Cleaning and detecting apparatus for inner wall of insulating hollow sleeve, and sleeve cleaning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011268800.3A CN112474643B (en) | 2020-11-13 | 2020-11-13 | Cleaning and detecting equipment for inner wall of insulating hollow sleeve and sleeve cleaning method |
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| Publication Number | Publication Date |
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| CN112474643A CN112474643A (en) | 2021-03-12 |
| CN112474643B true CN112474643B (en) | 2023-12-12 |
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| CN202011268800.3A Active CN112474643B (en) | 2020-11-13 | 2020-11-13 | Cleaning and detecting equipment for inner wall of insulating hollow sleeve and sleeve cleaning method |
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| Country | Link |
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| CN (1) | CN112474643B (en) |
| WO (1) | WO2022099985A1 (en) |
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| CN112474643A (en) | 2021-03-12 |
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