CN112893346B - In-pipe composite visual automatic descaling device and descaling method - Google Patents

Abstract

The invention discloses an in-pipe composite visual automatic descaling device, which comprises an ultrasonic descaling component, a mechanical descaling component and a power component, wherein the ultrasonic descaling component is arranged in the pipe; the ultrasonic descaling assembly comprises: the ultrasonic descaling device comprises an inner shaft, a four-way connector, a claw head arm rod, an arm rod supporting rod and an ultrasonic descaling claw head; the mechanical descaling assembly comprises: the device comprises a connecting ring, a supporting wheel, a device cavity, a wheel brush, an outer rotor motor, a jet flow component and a connecting disc; the power component is fixedly arranged on one side, far away from the jet flow component, of the connecting disc, and the infrared camera is arranged on the other end portion of the power component. The invention also discloses a composite visual automatic descaling method in the pipe. The in-pipe composite visual automatic descaling device and the descaling method provided by the invention ensure that pipelines with different sizes and various scaling forms can be stably and efficiently cleaned on the premise of not damaging the pipelines, and the descaling effect is visual.

Description

In-pipe composite visual automatic descaling device and descaling method

technical field

The invention relates to the technical field of pipeline maintenance equipment, in particular to an in-pipe composite visual automatic descaling device and a descaling method.

Background technique

Pipeline transportation is currently the main way of oil and gas transportation. The medium conveyed in the pipeline is mainly water and oil. These mediums contain organic matter, H ₂ S, CO ₂ , various ions, mud sand and other impurities, so it is easy to form carbonate, sulfate, sulfide and other scales, causing pipelines Blockage, reducing the pipeline transportation capacity, and there are certain safety hazards.

At present, the commonly used scale treatment technologies mainly include mechanical method and chemical method. Chemical descaling is mainly to dissolve and remove the scale through chemical methods, including chelating agent solvent cleaning, pickling, etc., and select different chemical reagents for different scales; while mechanical descaling is mainly to install a cutter head on the piston, Use the internal pressure inside the gathering pipeline to push the piston to drive the cutter head to scrape the dirt.

However, the currently commonly used mechanical descaling methods are difficult to completely remove the scale, the equipment is easily damaged, the pigging efficiency is low, the descaling cost is high, and its various devices are not perfect.

After investigation and comparative analysis, it is found that the common pipeline descaling devices have the following deficiencies:

(1) There is no visual device, it is impossible to judge the descaling effect, and it is difficult to completely remove the scale in the pipe. In the process of descaling, it generally needs to be cleaned repeatedly, the equipment is easily damaged, and the pigging efficiency is low;

(2) The scale removal form is single, the effect is unstable, it is difficult to deal with the stubborn adhesive scale generated by carbonate, sulfate, sulfide, etc., the scope of application is relatively narrow, it is difficult to travel in the pipeline, and it is difficult to corrode the pits in the pipeline. The scale removal is also relatively weak.

Therefore, how to provide a descaling device and method that does not damage the pipeline, has complete descaling, and has stable, efficient and visualized descaling effects is an urgent problem to be solved by those skilled in the art.

SUMMARY OF THE INVENTION

In view of this, the present invention provides an in-pipe composite visual automatic descaling device and descaling method, which ensure stable and efficient performance for pipes of different sizes and various forms of scaling without damaging the pipes. clean and visualize the descaling effect.

In order to achieve the above object, the present invention adopts the following technical solutions:

An in-tube composite visual automatic descaling device includes an ultrasonic descaling component, a mechanical descaling component and a power component; the ultrasonic descaling component includes: a line connector, an inner shaft, a four-way connector, a claw head arm lever arm A rod support rod and an ultrasonic descaling claw head, one end of the inner shaft is fixedly connected to the line connector, and the outer circumference of the other end is sleeved with the four-way connector; the claw head arm rods are provided with multiple, and The ring is arranged on the outer circumference of the four-way connector, one end is hinged with the four-way connector, and the other end is connected with the ultrasonic descaling claw head; the inner shaft is provided with a jet fluid channel and a line channel, and is connected to the inner shaft. A wire outlet is opened in the middle of the inner shaft and a plurality of liquid outlets are evenly distributed on its outer circumference; one end of the arm rod is hinged with the inner shaft, and the other end is hinged with the arm rod; the A liquid inlet is opened on the arm rod of the claw head, and the liquid inlet and the liquid outlet are connected through a flexible pipe and communicated with the jet liquid channel, and the bottom of the ultrasonic descaling claw head is provided with a jet flow The mechanical descaling assembly includes: a connecting ring, a supporting wheel, a device cavity, a wheel brush, an outer rotor motor, a jet member and a connecting plate; the One end is fixedly connected to the four-way connector, and the other end is fixedly connected to the device cavity; the other end of the device cavity is fixedly connected to the outer rotor motor, the jet member and the connecting plate in sequence; the wheel brush Removably installed on the outer rotor motor; a plurality of jet nozzles are arranged in an annular array on the outer circumference of the jet member; the support wheel has a plurality of fixed rings, which are respectively arranged on the outer circumference of the connecting ring and the connecting plate; The power member is fixedly installed on one side of the connecting plate away from the jet member, and an infrared camera is installed at the other end thereof.

The in-pipe composite visual automatic descaling device disclosed by the invention integrates ultrasonic, mechanical and chemical descaling into a whole. First, through chemical reaction, the structure of the scale is changed or becomes loose, and then mechanical descaling and ultrasonic descaling are performed. It ensures the action of ultrasonic waves and the stubborn scale inside, saves energy, ensures efficiency, and has good countermeasures for different forms of scaling; the entire device travels in the tube through the power component, which can repeatedly clean the thick and stubborn scale until it is completely removed. , Ultrasonic energy forms cavitation through the descaling claw head combined with the jet liquid with chemicals to ensure the descaling effect without damaging the inner wall of the pipeline; moreover, an infrared camera is installed at the front end of the device, which can be used to observe the inner wall of the pipe. The scale form and abnormal situation in the pipe can also be observed, and the scale removal effect in the pipe can also be observed to repeatedly clean the places that have not been cleaned thoroughly to achieve the visualization of the scale removal effect.

Preferably, the ultrasonic descaling claw head comprises a connecting head, a flat plate, an ultrasonic transducer and an arc vertical plate, the connecting head is fixedly connected with the claw head arm rod, and the jet hole is provided at the bottom thereof; One end of the flat plate is fixedly connected to the other side of the connector, and the other end is fixedly connected to the arc-shaped vertical plate; the ultrasonic transducer is threadedly connected to the flat plate; the arc-shaped vertical plate is detachable A number of studs are installed.

The beneficial effect of adopting the above technical scheme is that the function of the ultrasonic transducer is to convert the input electrical power into mechanical power, that is, ultrasonic waves, and then transmit it out; Scratch, to achieve effective descaling.

Preferably, the teeth are evenly distributed in two rows, and their material hardness is lower than that of the pipeline to be cleaned; a shock absorbing member is also installed on the claw arm, and the shock absorbing member is fixed to the connecting head connect.

The beneficial effect of adopting the above technical scheme is that the hardness of the tooth nail material is lower than that of the pipeline to be cleaned, which is conducive to descaling, and the claw head arm rod is installed with a shock absorbing member, which can realize the shock absorption effect when the claw head arm rod works.

Preferably, the device cavity is provided with a spring, the length of the spring is 2 cm longer than the placement channel thereof, and the spring is in a compressed state when the connecting ring is connected and installed with the four-way connector.

The beneficial effect of adopting the above technical solution is that the compressed spring imparts an axial force to the inner shaft, the inner shaft moves axially, and the arm rod of the claw head is opened outward through the arm rod support rod.

Preferably, a sealing gasket is provided between the connecting plate and the jet member; the device cavity is cut into two parts from the middle, and a sealing ring is set between them, and the two cut parts pass through the annular array The connecting piece is connected, and the connecting piece is fixed on the outer wall of the device cavity.

The beneficial effect of adopting the above technical solution is that the part where the two parts of the device cavity are connected is provided with a groove, and the size of the groove is communicated with the connecting piece for the connecting piece to be embedded, and each connecting piece is fixed on the outer wall of the device cavity by two screws. superior.

Preferably, the power component is connected with the connecting plate through a linkage shaft and a universal joint, the linkage shaft is connected with a joint connected with the connecting plate through a thread, and the linkage shaft is divided into a casing, a bearing, and a rotor part , the bearing is provided with two rows, and there are baffle plates at the front and rear, and the rotor is placed in the middle of the two rows of bearings; the universal joint is divided into a first connector, a cross connector, and a second connector. The linkage shaft rotor is welded, the second connecting head is welded with the connecting plate of the power component, and the universal joint is annular and hollow for the passage of lines.

The beneficial effect of adopting the above technical solution is that the connection between the power member and the connecting plate is simple, and the cavity is flexible.

Preferably, the power member includes a power member main body, a support ring, a shock-absorbing support rod and a crawler, and the support ring is provided at each end of the power member main body, and is provided in the middle of the power member main body. There is a wire outlet and is threadedly connected with it, a plurality of connecting heads are annularly arrayed on the outer periphery of the support ring and are provided with through holes; one end of the shock-absorbing support rod is fixedly connected with the connecting head, and the other end is fixedly connected with the tracked vehicle The number of the crawler vehicles is the same as the number of the connecting heads; the middle part of the crawler vehicle is provided with a wire inlet, and the line exits from the wire outlet of the main body of the power component and enters from the wire inlet of the crawler vehicle.

The beneficial effect of adopting the above technical solution is that the crawler vehicle provides the power to move forward for the whole device, the support ring plays the role of connecting the main body of the power component and the shock-absorbing support rod, and the shock-absorbing support rod realizes shock absorption and support for the crawler vehicle. effect.

Preferably, each of the crawler vehicle and the connecting head is three, and each of the crawler vehicle is connected to the connecting head through four shock-absorbing support rods.

The beneficial effect of adopting the above technical solution is that the manufacturing cost can be reduced while meeting the requirements of stable use.

Preferably, an infrared camera support is fixed at the end of the main body of the power component, and two oppositely arranged baffles are fixed at the end of the infrared camera support; the infrared camera is embedded in the baffles and screwed through rotatably connected to the baffle.

The beneficial effect of adopting the above technical solution is that the infrared camera can be rotated and can realize multi-angle detection; at the same time, the infrared camera can not only observe the abnormal situation in the tube, but also observe whether the scale removal is complete, so that the entire device can achieve the visualization of the scale removal effect.

The invention also discloses an in-pipe composite visual automatic descaling method, which utilizes the above descaling device and includes the following steps:

a. Fix the pipeline to be descaled, install the wheel brush with the appropriate size on the outer rotor motor according to the diameter of the pipeline to be cleaned, and install the tooth nail with appropriate hardness according to the material of the pipeline to be cleaned. The type of scaling is judged by the pipeline conveying medium to match the appropriate chemical jet fluid;

b. First squeeze the crawler of the power member to compress the shock-absorbing support rod to put the power member into the pipeline, connect the line connector to the line connector, and use the control device to move the power member slowly;

c. Adjust the position of the mechanical descaling component to enter the pipeline, and still use the control device to make the power component and the mechanical descaling component move forward slowly;

d. When the entire mechanical descaling device completely enters the pipeline, compress the claw head arm rod of the ultrasonic descaling member inward, so that the four claw head arm rods contract inward. At this time, use the control device to move the whole device slowly forward. , one side compresses and pushes the claw arm rod forward to make the ultrasonic descaling member enter the tube;

e. When the descaling device in the whole pipe completely enters the inside of the pipeline to be cleaned, turn on the liquid supply switch, let the jet liquid with chemicals react with the scale, turn on the switch of the outer rotor motor, the mechanical descaling operation starts, and finally turn on the ultrasonic transducer The whole descaling operation starts, the degree of fouling is judged by the image in the tube transmitted by the infrared camera, and the gear of the control device is adjusted according to the degree of fouling to give different descaling intensities;

f. By controlling the power components, the entire descaling device moves back and forth in the pipe to clean the pipeline. The infrared camera observes the descaling situation or abnormal situation, and repeatedly cleans the places with serious scaling to achieve the effect of cleaning the entire pipeline.

As can be seen from the above technical solutions, compared with the prior art, the present invention provides an in-pipe composite visual automatic descaling device and descaling method, which have the following advantages:

(1) Combining ultrasonic, mechanical and chemical descaling in one, first through chemical reaction, the scale structure changes, or becomes loose, and then mechanical descaling and ultrasonic descaling are used to ensure that ultrasonic waves act on the stubborn scale in the inner layer. , save energy, ensure efficiency, and have good countermeasures for different forms of scaling. By setting the device to be scalable, it can be applied to pipes of different sizes.

(2) The entire device can travel in the tube through the power component, and the heavy and stubborn scale can be cleaned repeatedly until it is completely removed. The built-in shock absorber device allows the ultrasonic energy to pass through the descaling claw head to the curved vertical plate, and finally pass the tooth nail vertically. It acts on the pipe wall and forms cavitation in combination with the jet liquid with chemical agents to ensure the descaling efficiency without damaging the inner wall of the pipe.

(3) There is an infrared camera at the front of the device, which can be used to observe the form of scaling in the tube and the abnormal condition in the tube, and also observe the effect of descaling in the tube, so as to repeatedly clean the places that have not been cleaned thoroughly to achieve the visualization of the descaling effect.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to the provided drawings without creative work.

FIG. 1 is an overall schematic diagram of an in-pipe composite automatic descaling and visualization device according to an embodiment of the present invention.

FIG. 2 is an overall schematic diagram of an ultrasonic descaling component provided by an embodiment of the present invention.

FIG. 3 is a schematic diagram of the connection between an ultrasonic descaling component and a mechanical descaling component provided by an embodiment of the present invention.

FIG. 4 is a schematic diagram showing the details of the northeast measurement of the mechanical descaling component provided by the embodiment of the present invention.

FIG. 5 is a detailed schematic diagram of a southwest measurement of a mechanical descaling component provided in an embodiment of the present invention.

FIG. 6 is a detailed schematic diagram of a power component provided by an embodiment of the present invention.

Each label in the attached drawing is:

1- Ultrasonic descaling component; 2- Mechanical descaling component; 3- Power component; 4- Line connector; 5- Inner shaft; 6- Four-way connector; 7- Pin; 8- Claw head arm; 9- Arm support rod; 10-shock absorber; 11-ultrasonic descaling claw head; 12-ultrasonic transducer; 13-jet hole; 14-tooth nail; 15-arc vertical plate; 16-first outlet; 17-liquid outlet; 18-liquid inlet; 19-connecting ring; 20-spring; 21-support wheel; 22-device cavity; 23-wheel brush; 24-outer rotor motor; 25-jet member; 26-connection Disc; 27-Sealing Gasket; 28-Connecting Piece; 29-Jet Nozzle; 30-Linkage Shaft; 31-Universal Joint; 32-Connecting Plate; 33-Power Member Body; 34-Support Ring; 35-Shock absorbing support Rod; 36-tracked vehicle; 37-infrared camera support; 38-infrared camera, 39-block; 40-cross joint, 41-first joint, 42-second joint, 43-joint, 44- Flat, 45-second outlet.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Referring to FIG. 1 , an in-pipe composite automatic descaling and visualization device provided by the present invention includes an ultrasonic descaling component 1 , a mechanical descaling component 2 , and a power component 3 ;

Referring to Figure 2, the ultrasonic descaling member 1 is provided with a line connector 4, an inner shaft 5, and a four-way connector 6 from bottom to top, wherein the four-way connector 6 passes through four pins 7 and four claw head arm rods. 8 is connected, the claw head arm rod 8 is connected with the arm rod support rod 8 through the pin 7, the arm rod support rod 9 is connected with the inner shaft through the pin 7, the front end of the claw head arm rod 8 is provided with a shock absorbing member 10, and the shock absorbing member 10 Connect with the descaling claw head 11;

The descaling claw head 11 is divided into four parts: a connecting head, a flat plate and an arc-shaped vertical plate 15 of the ultrasonic transducer 12, and the lower part is welded with a support bar to connect and fix the three parts of the connecting head, the flat plate and the arc-shaped vertical plate 15, wherein the connection The head 43 is welded with the flat plate 44, the flat plate 44 is welded with the arc-shaped vertical plate 15, the ultrasonic transducer 12 and the flat plate 44 are connected by threads, the bottom of the connecting head 43 is provided with a jet hole 13, and the arc-shaped vertical plate 15 is provided with two rows of 18 teeth nails 14 and the angle is perpendicular to the horizontal plane when welding with the flat plate 44, the hardness of the teeth nails 14 is lower than the pipeline to be cleaned, and can be replaced according to different pipelines;

The chemical jet agent sprayed through the jet hole 13 and the energy produced by the ultrasonic transducer 12 provide cavitation, and the scale that cannot be cleaned by the previous mechanical descaling member 2 is cleaned twice to ensure the descaling efficiency and thoroughness;

The inner shaft 5 is provided with a jet liquid channel and a circuit channel, and a first outlet 16 is opened in the middle of the shaft, and a liquid outlet 17 is opened in each of the four directions. The liquid inlet 18 and the liquid outlet 17 can be connected with a flexible pipe to form a jet liquid channel, and the ultrasonic transducer 12 can be powered by a wire extending in the first outlet 16 .

3, the ultrasonic descaling member 1 is connected to the connecting ring 19 through the four-way connector 6, and the connecting ring 19 is connected to the mechanical descaling member 2 through four screws; the mechanical descaling member 2 is provided with a spring 20 , the length of the spring 20 is 2cm longer than its placement channel, the spring 20 will be in a compressed state when the connecting ring 19 is connected and installed with the mechanical descaling member 2, the compressed spring 20 will give the inner shaft 5 an axial force, and the inner shaft 5 will move axially and The claw head arm rod 8 is opened outward through the arm rod support rod 9;

By compressing the four claw-head arm rods 8 inwards, the entire ultrasonic descaling member 1 is contracted to be suitable for pipes of different sizes, and the compressed spring 20 after being placed in the pipe gives the inner shaft 5 an axial force, and then makes the four claw-head arm rods 8 pieces. Open to fit the pipe wall, high-speed chemicals can be sprayed out of the jet holes 13, which can not only chemically react with the scale to make it fall off, but also form cavitation with ultrasonic waves to increase the scale removal efficiency.

Referring to FIG. 4 , the mechanical descaling member 2 is divided into six parts: a supporting wheel 21 , a device cavity 22 , a wheel brush 23 , an outer rotor motor 24 , and a jet member 25 . 4, and a damping unit is provided on the arm of the support wheel 21, the four support wheels 21 close to the ultrasonic descaling member 1 are connected with the connecting ring 19 by welding, and the four support wheels 21 close to the power member 3 are connected to the ring 19. The annular array is welded on the connecting plate 26, and the connecting plate 26 is connected with the mechanical descaling member 2 through 6 screws, and a sealing gasket 27 is arranged therebetween;

The device cavity 22 is cut into two parts from the middle, and a sealing ring is arranged between them. The two parts are connected by the four connecting pieces 28 in the annular array. The groove, the size of the groove is the same as that of the connecting piece 28, for the connecting piece 28 to be embedded, and each connecting piece 28 is fixed on the device cavity 22 by two screws;

The chemical agent sprayed from the jet member 25 can chemically react with the scale, so that the scale structure changes, loosens or falls off, and the mechanical scale removal by the wheel brush accelerates the process and improves the scale removal efficiency;

The wheel brush 23 and the outer rotor motor 24 are installed together to provide mechanical descaling function for the whole device. The wheel brush 23 is detachable and can be replaced with different sizes of wheel brushes and bristles of different materials according to different pipe diameters and descaling strength. There are four jet nozzles 29 in a circular array on the member 25, the bottom of the nozzle is welded with the device, and the nozzle head is connected by threads; a total of eight support wheels 21 are arranged before and after the mechanical descaling member 2, which can make the ultrasonic descaling member 1 and the mechanical descaling member 2. 2 Maintain balance and stability when working.

5 and 1, the power member 3 is connected to the mechanical descaling member 2 through the linkage shaft 30 and the universal joint 31. The linkage shaft 30 is connected to the joint connected to the connecting plate 26 through the thread, and the joint is connected by 4 screws. , the linkage shaft 30 is divided into three parts: the shell, the bearing and the rotor. The bearing is provided with two rows, and baffles are provided at the front and rear, and the rotor is placed in the middle of the two rows of bearings;

The universal joint 31 is divided into a first connecting head 41, a cross joint 42 and a second connecting head 42. The first connecting head 41 is welded with the rotor of the linkage shaft 30, and the second connecting head 42 is welded with the connecting plate 32 of the power component 3. The interior of the universal joint 31 is annular and hollow for the passage of lines.

Referring to FIG. 6 , the power member 3 is composed of four parts: the power member main body 33 , the support ring 34 , the shock-absorbing support rod 35 , and the crawler 36 . The support ring 34 is provided at the front end and the rear end of the power member main body 33 respectively. And a second outlet 45 is arranged in the middle of the main body 33 of the power component, and is connected with it by threads, and the support ring 33 is annularly arrayed with 3 connectors and provided with through holes;

One end of the shock-absorbing support rod 35 is connected to the connecting head of the support ring 33 through pins and pins, and the other end is also connected to the tracked vehicle 36 through pins and pins, and each support rod 35 is provided with a shock-absorbing unit, which can not only absorb shock It can also be compressed to change the diameter of the entire power member 3, which can be used in pipes of different sizes. Three crawler vehicles 36 are annularly arrayed around the main body 33 of the power member. 33 is connected, and a wire inlet is provided in the middle. The wire exits from the second wire outlet 45 of the power component main body 33 and enters from the wire inlet of the crawler vehicle 36 .

6, the front end of the power member 3 is provided with an infrared camera 38, the infrared camera 38 is connected with the power member main body 33 through the infrared camera support 37, and the infrared camera support 37 is connected with the power member main body 33 through 3 screws; The front end of the camera support 37 is provided with two blocking pieces 39, the infrared camera 38 is embedded in the blocking piece 39 and connected by a screw, the infrared camera 38 can rotate around the screw in the blocking piece 39; the infrared camera 38 is set at the front end of the device , not only can observe the abnormal situation in the tube, but also observe whether the scale removal is complete, so that the whole device can achieve the visualization of the scale removal effect.

The invention also discloses an in-pipe composite visual automatic descaling method, which utilizes the above descaling device and includes the following steps:

a. Fix the pipeline to be descaled, and install the wheel brush 23 of the appropriate size according to the diameter of the pipeline to be cleaned, and install it on the outer rotor motor 24. According to the material of the pipeline to be cleaned, select the tooth nail 14 of suitable hardness and install it on the arc vertical plate On 15, determine the type of scaling according to the medium conveyed by the pipeline, so as to match the appropriate chemical jet fluid;

b. First squeeze the crawler 36 of the power member 3 to compress the shock-absorbing support rod 35 to put the power member 3 into the pipeline, connect the line connector to the line connector 4, and use the control device to make the power member 3 move forward slowly ;

c. Adjust the position of the mechanical descaling component 2 to make it enter the pipeline, and still use the control device to make the power component 3 and the mechanical descaling component 2 move forward slowly;

d. When the entire mechanical descaling device 2 completely enters the pipeline, compress the claw head arm rod 8 of the ultrasonic descaling member 1 inward to shrink the four claw head arm rods 8 inwards. At this time, use the control device to make the whole device Move forward slowly, compress and push the claw head arm 8 forward to make the ultrasonic descaling member 1 enter the tube;

e. When the descaling device in the whole pipe completely enters the inside of the pipe to be cleaned, turn on the liquid supply switch, let the jet liquid with chemicals react with the scale, turn on the switch of the outer rotor motor 24, the mechanical descaling operation starts, and finally turn on the ultrasonic replacement. The energy device 12 is switched on and off, the whole descaling operation starts, the degree of scaling is judged by the in-pipe image transmitted by the infrared camera 38, the gear position of the control device is adjusted according to the degree of scaling, and different descaling strengths are given;

f. By controlling the power component 3, the entire descaling device moves back and forth in the pipe to clean the pipeline, and the infrared camera 38 observes the descaling situation or other abnormal conditions, and repeatedly cleans the places with serious fouling, so as to clean the entire pipeline. Effect.

The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments can be referred to each other. As for the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant part can be referred to the description of the method.

The above description of the disclosed embodiments enables any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (7)

1. An in-pipe composite visual automatic descaling device is characterized by comprising an ultrasonic descaling component (1), a mechanical descaling component (2) and a power component (3);

the ultrasonic descaling assembly (1) comprises: the ultrasonic descaling device comprises a line connector (4), an inner shaft (5), a four-way connector (6), a claw head arm rod (8), an arm rod supporting rod (9) and an ultrasonic descaling claw head (11), wherein one end of the inner shaft (5) is fixedly connected with the line connector (4), and the periphery of the other end of the inner shaft is sleeved with the four-way connector (6); a plurality of claw head arm rods (8) are arranged and are annularly arranged on the periphery of the four-way connector (6), one end of each claw head arm rod is hinged with the four-way connector (6), and the other end of each claw head arm rod is connected with the ultrasonic descaling claw head (11); a jet flow liquid channel and a line channel are arranged in the inner shaft (5), a first outlet (16) is formed in the middle of the inner shaft (5), and a plurality of liquid outlets (17) are uniformly distributed on the periphery of the first outlet; one end of the arm rod supporting rod (9) is hinged with the inner shaft (5), and the other end of the arm rod supporting rod is hinged with the claw head arm rod (8); a liquid inlet (18) is formed in the claw head arm rod (8), the liquid inlet (18) is communicated with the liquid outlet (17) through a flexible pipe and is communicated with the jet liquid channel, a jet hole (13) is formed in the bottom of the ultrasonic descaling claw head (11), and power is supplied to the ultrasonic descaling claw head through a wire extending in the first wire outlet (16); the ultrasonic descaling claw head (11) comprises a connector (43), a flat plate (44), an ultrasonic transducer (12) and an arc-shaped vertical plate (15), the connector (43) is fixedly connected with the claw head arm rod (8), and the bottom of the connector is provided with the jet hole (13); one end of the flat plate (44) is fixedly connected with the other side of the connector (43), and the other end of the flat plate is fixedly connected with the arc-shaped vertical plate (15); the ultrasonic transducer (12) is in threaded connection with the flat plate (44); a plurality of toothed nails (14) are detachably mounted on the arc-shaped vertical plate (15); two rows of the toothed nails (14) are uniformly distributed, and the hardness of the material of the toothed nails is lower than that of the pipeline to be cleaned; the claw head arm rod (8) is also provided with a damping component (10), and the damping component (10) is fixedly connected with the connector (43);

the mechanical descaling assembly (2) comprises: the device comprises a connecting ring (19), a supporting wheel (21), a device cavity (22), a wheel brush (23), an outer rotor motor (24), a jet component (25) and a connecting disc (26); one end of the connecting ring (19) is fixedly connected with the four-way connector (6), and the other end of the connecting ring is fixedly connected with the device cavity (22); the other end of the device cavity (22) is fixedly connected with the outer rotor motor (24), the jet flow component (25) and the connecting disc (26) in sequence; the wheel brush (23) is detachably arranged on the outer rotor motor (24); a peripheral annular array of said fluidic member (25) having a plurality of fluidic nozzles (29); the supporting wheels (21) are provided with a plurality of fixing rings which are respectively arranged on the peripheries of the connecting ring (19) and the connecting disc (26);

the power assembly (3) is fixedly arranged on one side, away from the jet flow component (25), of the connecting disc (26), and an infrared camera (38) is arranged at the other end of the power assembly; the power assembly (3) is connected with the connecting disc (26) through a linkage shaft (30) and a universal joint (31), the linkage shaft (30) is connected with a joint connected with the connecting disc (26) through threads, the linkage shaft (30) is divided into a shell, a bearing and a rotor part, the bearing is provided with two rows of bearings, baffles are arranged at the front and the back of the bearing, and the rotor is arranged between the two rows of bearings; the universal joint (31) is divided into a first connector (41), a cross connector (43) and a second connector (42) to form, the first connector is welded with a rotor of the universal shaft (30), the second connector (42) is welded with a connecting plate (32) of the power assembly (3), and an annular and a hollow structure are arranged in the universal joint (31) to allow a circuit to pass through.

2. The in-tube composite visual automatic descaling device according to claim 1, wherein a spring (20) is arranged in the device cavity (22), the length of the spring (20) is 2cm longer than that of the placing channel, and the spring (20) is in a compressed state when the connecting ring (19) is connected and installed with the four-way connector (6).

3. The in-pipe composite visual automatic descaling device according to claim 1, wherein a sealing gasket (27) is arranged between the connecting disc (26) and the jet component (25); the device cavity (22) is divided into two parts from the middle, a sealing ring is arranged between the two parts, the divided parts are connected through a ring array of connecting pieces (28), and the connecting pieces (28) are fixed on the outer wall of the device cavity (22).

4. The in-pipe composite visual automatic descaling device according to claim 1, wherein the power assembly (3) comprises a power assembly main body (33), a support ring (34), a shock absorption support rod (35) and a crawler (36), the support ring (34) is provided with one each at two ends of the power assembly main body (33), a second outlet (45) is provided in the middle of the power assembly main body (33) and is in threaded connection with the power assembly main body, and a plurality of connectors (43) are annularly arrayed on the periphery of the support ring (34) and provided with through holes; one end of the damping support rod (35) is fixedly connected with the connector (43), and the other end of the damping support rod is fixedly connected with the crawler (36); the number of the tracked vehicles (36) is consistent with that of the connectors (43); the middle part of the tracked vehicle (36) is provided with a wire inlet, and a line is led out from a wire outlet of the power assembly main body (33) and is led in from the wire inlet of the tracked vehicle (36).

5. The in-pipe composite visual automatic descaling device according to claim 4, wherein the tracked vehicle (36) and the connecting head (43) are three, and each tracked vehicle (36) is connected with the connecting head (43) through four damping support rods (35).

6. The in-pipe composite visual automatic descaling device according to claim 4, wherein an infrared camera support (37) is fixedly arranged at the end of the power assembly main body (33), and two opposite blocking pieces (39) are fixed at the end of the infrared camera support (37); the infrared camera (38) is embedded into the blocking piece (39) and is rotationally connected with the blocking piece (39) through a screw.

7. An in-tube composite visual automatic descaling method, which utilizes the in-tube composite visual automatic descaling device described in any one of the above 1-6, and comprises the following steps:

a. fixing the pipeline to be descaled, selecting a wheel brush (23) with a proper size according to the diameter of the pipeline to be cleaned, installing the wheel brush on an outer rotor motor (24), selecting a tooth nail (14) with proper hardness according to the material of the pipeline to be cleaned, installing the tooth nail on an arc-shaped vertical plate (15), and judging the scaling type according to a pipeline conveying medium so as to match with a proper chemical injection liquid;

b. firstly, a tracked vehicle (36) of a power assembly (3) is extruded to compress a damping support rod (35) so as to place the power assembly (3) into a pipeline, a line joint is connected to a line connector (4), and the power assembly (3) is slowly advanced by using a control device;

c. adjusting the position of the mechanical descaling component (2) to enable the mechanical descaling component to enter the pipeline, and using a control device to enable the power component (3) and the mechanical descaling component (2) to slowly advance;

d. when the whole mechanical descaling component (2) completely enters a pipeline, the claw head arm rods (8) of the ultrasonic descaling component (1) are compressed inwards to enable the four claw head arm rods (8) to contract inwards, at the moment, the whole device is slowly moved forwards by using a control device, and the claw head arm rods (8) are compressed and pushed forwards to enable the ultrasonic descaling component (1) to enter the pipeline;

e. when the whole in-pipe descaling device completely enters the interior of a pipeline to be cleaned, a liquid supply switch is turned on to enable jet liquid with chemical medicines to react with scale, an outer rotor motor (24) switch is turned on, mechanical descaling operation starts, finally, an ultrasonic transducer (12) switch is turned on, the whole descaling operation starts, the scaling degree is judged according to in-pipe images transmitted by an infrared camera (38), and the gear of the control device is adjusted according to the scaling degree to give different descaling strengths;

f. make whole scale removal device round trip movement in intraductal clear up the pipeline through control power component (3), infrared camera (38) observe the scale removal condition or abnormal conditions, handle repeatedly the place that the scale deposit is serious, reach the effect to whole pipeline clean up.

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