CN110280550A - Inner wall of the pipe sweeping robot - Google Patents
Inner wall of the pipe sweeping robot Download PDFInfo
- Publication number
- CN110280550A CN110280550A CN201910691029.1A CN201910691029A CN110280550A CN 110280550 A CN110280550 A CN 110280550A CN 201910691029 A CN201910691029 A CN 201910691029A CN 110280550 A CN110280550 A CN 110280550A
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- China
- Prior art keywords
- pipe
- wall
- link block
- cleaning head
- sweeping robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000010408 sweeping Methods 0.000 title claims abstract description 33
- 238000004140 cleaning Methods 0.000 claims abstract description 64
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims description 42
- 238000005452 bending Methods 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 5
- 230000003447 ipsilateral effect Effects 0.000 claims description 3
- 239000000428 dust Substances 0.000 abstract description 20
- 206010065954 Stubbornness Diseases 0.000 abstract description 4
- 230000000717 retained effect Effects 0.000 abstract description 3
- 230000001681 protective effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000004064 recycling Methods 0.000 description 3
- 239000007789 gas Substances 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000010926 purge Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- 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
- B08B9/051—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 the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The present invention provides a kind of inner wall of the pipe sweeping robots, belong to duct cleaning equipment technical field, including blower, the first spring, resilient legs, idler wheel, cleaning head and driving mechanism.Blower outside mask is set up defences protective case；Two link blocks are respectively arranged in the two sides of protecting crust, and link block is equipped with multiple resilient legs, the end idler wheel of resilient legs；Two cleaning heads are separately positioned on the side of two link blocks；Two driving mechanisms are respectively arranged on protecting crust for driving cleaning head to rotate.Inner wall of the pipe sweeping robot provided by the invention, the present apparatus moves under the drive of multiple idler wheels, it advances inside pipeline, without man-hour manually hand-held, when the present apparatus is advanced in crooked pipeline, two the first springs can move towards bent upon itself according to pipeline, enable the present apparatus smoothly interior traveling of crooked pipeline, the dust of inner wall of the pipe stubbornness is removed using multiple hairbrush of rotation, while cooperating blower that will be retained in the dust blow pipe of inner wall of the pipe after removing.
Description
Technical field
The invention belongs to duct cleaning equipment technical fields, are to be related to a kind of inner wall of the pipe sweeping machine more specifically
People.
Background technique
Pipeline is the device for conveying gas, liquid or the fluid with solid particle, is had many uses general, be used primarily in
Water draining, heat supply, gives gas, in long distance delivery oil and natural gas, agricultural irrigation, hydraulic engineering and various commercial plants.
Inner wall understands adhesive dust to pipe storage afterwards for a period of time, and for shorter pipeline, staff can direct hand held tape
There is the stock of hairbrush to clean inner wall of the pipe；For longer pipeline or crooked pipeline, the clean mode of hand-held brush
It is difficult to realize, usually places dust catcher in pipe end and dust is sucked out, or in pipe end placement blower blowout dust, but for
The obstinate dust of longer pipe road and crooked pipeline inner wall cannot thoroughly remove.
Summary of the invention
The purpose of the present invention is to provide a kind of inner wall of the pipe sweeping robots, it is intended to solve longer pipe road or crooked pipeline
The problem of inner wall stubbornness dust is difficult to clean off.
To achieve the above object, the technical solution adopted by the present invention is that: a kind of inner wall of the pipe sweeping robot is provided, wrap
It includes:
Blower, outside mask are equipped with protecting crust；
Two link blocks, are installed on the two sides of the protecting crust by the first spring respectively, and the link block is circumferentially uniform
Multiple resilient legs are installed, the end of the resilient legs is equipped with the idler wheel driven by first motor, multiple idler wheels point
Not by multiple resilient legs for being resisted against the inner wall of the pipe；
Two cleaning heads, are separately positioned on two sides of the link block far from the blower, and the cleaning head is circumferential
It is equipped with multiple for cleaning inner wall of the pipe hairbrush；
Two driving mechanisms, are respectively arranged in the two sides of the protecting crust, and are located in two first springs,
Two driving mechanisms are respectively used to that the cleaning head is driven to rotate.
Further, the inner wall of the pipe sweeping robot further include:
Two end caps are separately positioned on the end of the cleaning head, are used to install camera on the end cap.
Further, the cleaning head includes:
The described one end of link block far from first spring is arranged in first connecting portion, rotation；
Second connecting portion is plugged in the one end of the first connecting portion far from the link block；
Third interconnecting piece is plugged in the one end of the second connecting portion far from the first connecting portion, the end cap setting
In the described one end of third interconnecting piece far from the second connecting portion；
Multiple connecting springs are respectively used to connect the first connecting portion and the link block, for connecting described first
Interconnecting piece and the second connecting portion；
The circumferential direction of the first connecting portion, the second connecting portion and the third interconnecting piece offers multiple for installing
The mounting hole of hairbrush.
Further, the resilient legs include:
Casing is fixed on the side wall of the link block；
Support rod is arranged in described sleeve pipe, and the idler wheel is mounted on the one end of the support rod far from described sleeve pipe；
Second spring is arranged in described sleeve pipe, close to the side of the link block, for abutting against the support rod.
Further, the resilient legs further include:
Sliding block is arranged in one end that the support rod penetrates described sleeve pipe, is slideably positioned in described sleeve pipe；
Described sleeve pipe is arranged in close to one end of the support rod, for stopping the sliding block to skid off described sleeve pipe in baffle ring.
Further, described sleeve pipe is rectangular tube, and the sliding block is and the matched rectangular block in described sleeve pipe inner cavity.
Further, the driving mechanism includes:
Control cabinet is fixed at the side of the protecting crust；
Second motor is installed in the control cabinet；
Transmission component, the driving end of connection second motor and the cleaning head, for driving the cleaning head to rotate.
Further, the transmission component includes:
Multiple transmission sections, axial series are separately connected the driving end of second motor positioned at the transmission section at both ends
With the cleaning head；
The both ends of the transmission section are equipped with rood beam, are axially arranged with multiple for connecting the rood beam end at both ends
Connecting rod, a rood beam of the transmission section are located between two rood beams of the adjacent transmission section, and described
One connecting rod of transmission section is located between the two neighboring connecting rod of the adjacent transmission section.
Further, it is additionally provided in the control cabinet:
First reel is rotatably arranged in the control cabinet；
Multiple first draught lines, one end fixation are set around on the axis of first reel, and the other end extends through together
Multiple described sleeve pipes of one link block, and the support rod is connected to close to one end of the link block, for driving
It states support rod and compresses the second spring；
Second reel is rotatably arranged in the control cabinet；
Second draught line, one end fixation are set around on the axis of second reel, and the other end sequentially passes through the company
It connects the ipsilateral multiple transmissions sections of block and connects the end cap with the cleaning head, for driving the end cap compression multiple described
Connecting spring.
Further, the end of the resilient legs is equipped with the bracket vertical with the resilient legs length direction, institute
State the middle part that idler wheel is spindle rotationally arranged in the bracket, the both ends of the bracket are equipped with to be bent to the side of the link block
Bending part, rotation is equipped with auxiliary wheel on two bending parts.
The beneficial effect of inner wall of the pipe sweeping robot provided by the invention is: compared with prior art, pipe of the present invention
Road inner wall sweeping robot, the present apparatus are moved under the drive of multiple idler wheels, are advanced inside pipeline, are not necessarily to man-hour manually hand-held, this
When device is advanced in crooked pipeline, two the first springs can move towards bent upon itself according to pipeline, keep the present apparatus smooth
Crooked pipeline in advance, using rotation multiple hairbrush remove inner wall of the pipe stubbornness dust, while cooperate blower will removing
It is retained in the dust blow pipe of inner wall of the pipe afterwards.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without creative efforts, can also be attached according to these
Figure obtains other attached drawings.
Fig. 1 is the structural schematic diagram of inner wall of the pipe sweeping robot provided in an embodiment of the present invention；
Fig. 2 is the explosive view of Fig. 1；
Fig. 3 is the structural schematic diagram of the resilient legs of inner wall of the pipe sweeping robot provided in an embodiment of the present invention；
Fig. 4 is link block, resilient legs and the cleaning head of inner wall of the pipe sweeping robot provided in an embodiment of the present invention
The structural schematic diagram divided；
Fig. 5 is the blower of inner wall of the pipe sweeping robot provided in an embodiment of the present invention and the structural schematic diagram of driving mechanism
One；
Fig. 6 is the blower of inner wall of the pipe sweeping robot provided in an embodiment of the present invention and the structural schematic diagram of driving mechanism
Two；
Fig. 7 is the control figure of the controller of inner wall of the pipe sweeping robot provided in an embodiment of the present invention；
Fig. 8 is the work flow diagram of inner wall of the pipe sweeping robot provided in an embodiment of the present invention.
In figure: 1, blower；2, protecting crust；3, link block；4, the first spring；5, resilient legs；501, casing；502, it supports
Bar；503, second spring；504, sliding block；505, baffle ring；6, first motor；7, idler wheel；8, cleaning head；801, first connecting portion；
802, second connecting portion；803, third interconnecting piece；804, connecting spring；805, mounting hole；9, driving mechanism；901, control cabinet；
9011, the first reel；9012, the second reel；902, the second motor；903, transmission component；9031, transmission section；10, it holds
Lid；11, bracket；12, auxiliary wheel.
Specific embodiment
In order to which technical problems, technical solutions and advantages to be solved are more clearly understood, tie below
Accompanying drawings and embodiments are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
Now inner wall of the pipe sweeping robot provided by the invention is illustrated.Fig. 1 and Fig. 2 are please referred to, inner wall of the pipe is clear
Sweep robot, including blower 1, protecting crust 2, link block 3, the first spring 4, resilient legs 5, idler wheel 7, cleaning head 8 and driving machine
Structure 9.
1 outside mask of blower is equipped with protecting crust 2；Two link blocks 3 are installed on the two of protecting crust 2 by the first spring 4 respectively
Side, link block 3 is circumferential to be uniformly equipped with multiple resilient legs 5, and the end of resilient legs 5 is equipped with the rolling driven by first motor 6
Wheel 7, multiple idler wheels 7 are respectively by multiple resilient legs 5 for being resisted against inner wall of the pipe；Two cleaning heads 8 are separately positioned on
Two sides of the link block 3 far from blower 1, cleaning head 8 are circumferentially equipped with multiple for cleaning inner wall of the pipe hairbrush；Two drivings
Mechanism 9 is respectively arranged in the two sides of protecting crust 2, and is located in two the first springs 4, and two driving mechanisms 9 are respectively used to
Cleaning head 8 is driven to rotate.
Protecting crust 2 is cylindrical shape, and blower 1 is mounted in protecting crust 2 by fan motor, and fan motor can drive blower 1
Positive and negative rotation, blower 1 are located at 2 center of protecting crust, install battery in the peripheral envelope of protecting crust 2, rotate with driving blower 1
Fan motor connection, for providing electric energy for the fan motor, the both ends of protecting crust 2 are additionally provided with protective net, for protecting blower
1, preventing sundries from entering protecting crust 2 influences the rotation of blower 1.
Link block 3 is polyhedron prism, inner hollow and the one end open far from the first spring 4, one end of the first spring 4
It is weldingly fixed on one end of protecting crust 2, the other end is welded on the end face of link block 3, and resilient legs 5 totally eight, each connection
There are four being uniformly distributed on block 3, it is divided into four leading portion motors and four back segment motors is separately mounted to the circumferential direction of link block 3,
It penetrates in link block 3 and fixed with link block 3.
Resilient legs 5 are welded with first motor 6 far from one end of link block 3, and the driving end of first motor 6 is connected with
Idler wheel 7, idler wheel 7 are Mecanum wheel, can be realized all-around mobile, and the function of similar universal wheel is to be located at wheel by many
Periphery wheel shaft and centre wheel form, and the wheel steering force of a part is transformed into a wheel method by these angled periphery wheel shafts
To above power.The final synthesis in direction and speed by respective wheel, these power generates one on the direction of any requirement
Resultant force vector is to ensure that this platform can move freely through on the direction of final resultant force vector, without changing wheel certainly
The direction of body.Diagonally distribute many small rollers on its wheel rim, therefore wheel can be with horizontal sliding.When wheel is around fixed
When wheel arbor rotates, the envelope of each small roller is cylindrical surface, so the wheel being capable of continuously rolls forward.Mecanum wheel
Compact-sized, movement is a kind of very successful omni-directional wheel flexibly.Idler wheel 7 is resisted against by resilient legs 5 using the elasticity of itself
On pipeline inside, first motor 6 drives idler wheel 7 to rotate, and multiple idler wheels 7 can be with more flexible convenient realization all-around mobile function
Can, so that the movement of all directions can be achieved in the present apparatus in pipeline.
Cleaning head 8 is plugged on link block 3, can be multiple suitable in the circumferential direction installation of cleaning head 8 according to the size of internal diameter of the pipeline
The hairbrush for closing length, is resisted against hairbrush on pipeline inside, the driving mechanism 9 for being mounted on 2 two sides of protecting crust respectively drives cleaning
First 8 rotation, to drive the multiple hairbrush rotations of installation.
Inner wall of the pipe sweeping robot provided by the invention, compared with prior art, inventive pipeline inner wall sweeping machine
People, the present apparatus are moved under the drive of multiple idler wheels 7, are advanced inside pipeline, are not necessarily to man-hour manually hand-held, the present apparatus is in crooked pipeline
When interior traveling, two the first springs 4 can move towards bent upon itself according to pipeline, enable the present apparatus smoothly crooked pipeline expert
Into removing the dust of inner wall of the pipe stubbornness using multiple hairbrush of rotation, while cooperating blower 1 that will be retained in pipeline after removing
The dust blow pipe of wall.
As a kind of specific embodiment of the invention, Fig. 1 and Fig. 2 are please referred to, inner wall of the pipe sweeping robot further includes
End cap 10.
Two end caps 10 are separately positioned on the end of cleaning head 8, are used to install camera on end cap 10.In the present embodiment,
End cap 10 is pyramid shell structure, is equipped with connecting rod with one end that cleaning head 8 is installed, connecting rod is plugged in cleaning head 8, end cap
10 outside is equipped with camera, for observing the situation in pipeline, finds to influence the foreign matter that the present apparatus is advanced in pipeline in time,
Such as toy, stone or sticky sundries, the foreign matter damage present apparatus or the influence present apparatus for avoiding the present apparatus from being difficult to clean off are normal
Operation, likewise, the outside of end cap 10 can also install headlamp, for illuminating space in pipe, guarantees the clarity of camera.
As a kind of specific embodiment of the invention, referring to Fig. 4, cleaning head 8 includes first connecting portion 801, second
Interconnecting piece 802, third interconnecting piece 803, connecting spring 804 and mounting hole 805.
First connecting portion 801 is rotatably arranged on the one end of link block 3 far from the first spring 4；Second connecting portion 802 is plugged in
The one end of first connecting portion 801 far from link block 3；Third interconnecting piece 803 is plugged in second connecting portion 802 far from first connecting portion
The one end of third interconnecting piece 803 far from second connecting portion 802 is arranged in 801 one end, end cap 10；Multiple connecting springs 804 divide
First connecting portion 801 and link block 3 Yong Yu not be connected, for connecting first connecting portion 801 and second connecting portion 802；First connects
The circumferential direction of socket part 801, second connecting portion 802 and third interconnecting piece 803 offers multiple for installing the mounting hole 805 of hairbrush.
In the present embodiment, link block 3 is multi-section structure, the first connecting portion rotatably cooperated including one with the open end of link block 3
801, it is connected between first connecting portion 801 and link block 3 by zanjon ball bearing, ensure that first connecting portion 801 is being revolved
Changing a job does not influence the operating attitude of link block 3 when making.Zanjon ball bearing inner ring is fixed on link block 3, and outer ring is connect with first
Portion 801.Multiple second connecting portions 802 for being mutually inserted cooperation and a second connecting portion farthest away from first connecting portion 801
802 mating third interconnecting pieces 803,10 grafting of end cap are mounted on third interconnecting piece 803, and multiple interconnecting pieces are from link block
3 one end size is gradually reduced, and is the closed prism structure of the one end open other end, is mutually inserted cooperation, multiple interconnecting pieces
It can be achieved to move along axis length direction, but faceted pebble structure will limit abutting connection and axially rotate, and realize that multiple interconnecting pieces can
It is rotated synchronously under the drive of driving mechanism 9, to drive the hairbrush on multiple interconnecting pieces to rotate synchronously, constantly with pipeline inside
Friction removes the dust of inner wall of the pipe, is connected by connecting spring 804 between abutting connection, it can be achieved that entire cleaning head 8 is long
Spend the variation in direction.Likewise, being also provided with multiple through-holes on the sealing surface of interconnecting piece, the wind for blowing out blower 1 passes through,
Wind is set to blow to outside inside cleaning head 8, the effect for removing dust is more preferable.
As a kind of specific embodiment of the invention, referring to Fig. 3, resilient legs 5 include casing 501, support rod 502
With second spring 503.
Casing 501 is fixed on the side wall of link block 3；Support rod 502 is arranged in casing 501, and idler wheel 7 is mounted on
The one end of support rod 502 far from casing 501；Second spring 503 is arranged in casing 501, close to the side of link block 3, is used for
Abut against support rod 502.In the present embodiment, multiple casings 501 are evenly distributed on the outer wall of two link blocks 3, are located at a company
Connect casing 501 on block 3 at least there are three, guarantee the stability of link block 3, multiple casings 501 are respectively welded fixed and penetrate
In link block 3, multiple support rods 502 are pressed into casing 501, second spring 503 is compressed, and second spring 503 can be according to pipeline
The compression that the size of internal diameter is subject to changes in various degree, and the outer profile for forming the idler wheel 7 of multiple 502 ends of support rod is less than
Internal diameter of the pipeline, while shrinking multiple resilient legs 5 and being placed in pipeline, into after pipeline, multiple resilient legs 5 are in own resilient
Under the action of spring back, be resisted against in inner wall of the pipe by the idler wheel 7 of 5 end of resilient legs, so that the present apparatus be made to protect in pipeline
It is fixed to keep steady.
As a kind of specific embodiment of the invention, referring to Fig. 3, resilient legs 5 further include sliding block 504 and baffle ring
505。
One end of 502 threading 501 of support rod is arranged in sliding block 504, is slideably positioned in casing 501；Baffle ring 505 is set
It sets in casing 501 close to one end of support rod 502, for stopping sliding block 504 to skid off casing 501.In the present embodiment, sliding block 504
It can only slide along the length direction of casing 501, and sliding block 504 can not be rotated relative to casing 501, be slidably matched for more faceted pebbles,
Sliding block 504 and support rod 502 are integrally formed, and the cross section of support rod 502 is less than the cross section of sliding block 504, it can be ensured that sliding
When block 504 is slided along casing 501, support rod 502 will not be interfered with casing 501.In addition, casing 501 is far from link block 3
Place open at one end is welded with baffle ring 505, and 505 inner hole of baffle ring is less than 504 outer profile of sliding block and is greater than 502 cross section of support rod, from
And guaranteeing the sliding block 504 in threading 501 will not fall off out of casing 501.
As a kind of specific embodiment of the invention, referring to Fig. 3, casing 501 is rectangular tube, sliding block 504 is and set
The matched rectangular block in 501 inner cavity of pipe.In the present embodiment, sliding block 504 and casing 501 cooperate, and sliding block 504 is long along casing 501
Degree direction, which is slided, and sliding block 504 is relative to casing 501 will not axially rotate, when the present apparatus being avoided to walk in pipeline, because
Support rod 502 rotates relative to casing 501 and influences walking of the present apparatus in pipeline.
As a kind of specific embodiment of the invention, Fig. 5 and Fig. 6 are please referred to, driving mechanism 9 includes control cabinet 901, the
Two motors 902 and transmission component 903.
Control cabinet 901 is fixed at the side of protecting crust 2；Second motor 902 is installed in control cabinet 901；Transmission group
Part 903 connects driving end and the cleaning head 8 of the second motor 902, for driving cleaning head 8 to rotate.In the present embodiment, control cabinet
901 include cabinet and the lid for being fastened on cabinet open end, and control cabinet 901 is mounted on the side of protecting crust 2, cabinet by bolt
Open end be located remotely from the side of protecting crust 2, the second motor 902 is bolted on lid medial surface, the second motor 902
It is two, respectively is used to drive the cleaning motor of the rotation of cleaning head 8, is also equipped with rotating wheel in the middle part of lid medial surface, the
The driving end of two motors 902 is equipped with the driving wheel engaged with the rotating wheel, for driving rotating wheel to rotate, transmission component 903
It is mounted on the lateral surface of lid, one end connects cleaning head 8, and the other end is by connection axis connection rotating wheel, and driving wheel is in the second electricity
Machine 902 is rotated by, and drives rotating wheel rotation, so that transmission component 903 be made to rotate, drives cleaning head 8 along link block 3 weeks
To rotation.
As a kind of specific embodiment of the invention, referring to Fig. 5, transmission component 903 includes multiple transmissions section 9031.
Multiple transmissions save 9031 axial series, and the driving of the second motor 902 is separately connected positioned at the transmission section 9031 at both ends
End and cleaning head 8；The both ends of transmission section 9031 are equipped with rood beam, are axially arranged with multiple for connecting the rood beam end at both ends
One rood beam of connecting rod, transmission section 9031 is located between two rood beams of adjacent drive section 9031, and is driven section 9031
One connecting rod is located between the two neighboring connecting rod of adjacent drive section 9031.In the present embodiment, transmission section 9031 is closed frame
Frame structure, adjacent transmission section 9031 are intertwined, and after transmission section 9031 turns an angle, connecting rod is resisted against adjacent drive section
On 9031 rood beam, so that adjacent transmission section 9031 be driven to rotate, multiple transmission sections 9031 are sequentially connected, it can be achieved that being driven
The axial rotatory force Flexible Transmission of section 9031.Meanwhile spring being installed inside the adjacent and transmission section 9031 that is intertwined, it is adjustable
The depth that section adjacent drive section 9031 mutually penetrates, thus drive cleaning head 8 flexible or elongation, it is each on multistage cleaning head 8
Connecting spring 804 is for limiting each abutting connection collapsing length, the feelings for avoiding abutting connection from occurring deviating between interconnecting piece
Condition.
As a kind of specific embodiment of the invention, referring to Fig. 5, being additionally provided with the first reel in control cabinet 901
9011 and second reel 9012.
First reel 9011 is rotatably arranged in control cabinet 901；One end of multiple first draught lines is fixed to be set around the
On the axis of one reel 9011, the other end extends through multiple casings 501 of same link block 3, and is connected to support rod 502
Close to one end of link block 3, for driving support rod 502 to compress second spring 503；Second reel 9012 is rotatably arranged on control
In case 901 processed；One end fixation of second draught line is set around on the axis of the second reel 9012, and the other end sequentially passes through connection
The ipsilateral multiple transmission sections 9031 of block 3 and 8 connection end cap 10 of cleaning head, for driving end cap 10 to compress multiple connecting springs 804.
In the present embodiment, the first reel 9011 and the second reel 9012 are rotatablely installed respectively in the cabinet of control cabinet 901, are located at
The two sides of cabinet are equipped with rood beam, rood beam in the inside of end cap 10 respectively by two crosswise joint motor driven rotations
Upper installation zanjon ball bearing, zanjon ball bearing inner ring are fixed on rood beam center, and first is fixedly connected on outer ring and is led
One end of lead, the other end of the first draught line connect the first reel 9011, and the bottom of casing 501 offers through-hole, and first
The other end of draught line is divided into multiple separated times through the first spring 4 of side, the link block 3 of side, extends through casing
The through-hole connection support bar 502 of 501 bottoms passes through two crosswise joint motor drivens first close to one end of link block 3 respectively
Reel 9011 rotates, and drives multiple support rods 502 to compress the first spring 4 into casing 501 simultaneously, or outside along casing 501
It is mobile, extend the first spring 4, without compressing support into casing 501 manually simultaneously, bar is easy to operate.Pass through crosswise joint
Motor rotation pulls the first draught line, in the synchronous income casing 501 of drive lower support bar 502 of the first draught line, into pipe
After road inner wall, crosswise joint motor is rotated backward, and support rod 502 acts against on pipeline inside under the elastic force of the first spring 4,
To complete installation of the present apparatus in pipeline, it is not necessary to press multiple resilient legs 5 simultaneously manually, operate more convenient.Second
One end of draught line connects the second reel 9012, and the axial direction of multiple transmission sections 9031 offers through-hole, is equipped with multistage interconnecting piece
Cleaning head 8 it is axial offer through-hole, the other end of the second draught line is connected through multiple transmissions section 9031 with multistage interconnecting piece
In the connecting rod of end cap 10, the second reel 9012 passes through being rotated by for two longitudinally controlled motors respectively, drives two
The second draught line recycling at end pulls end cap 10, and the connecting spring 804 between the constantly multistage interconnecting piece of compression of end cap 10 can
8 length of cleaning head is adjusted according to the concrete condition of pipeline internal dust and sundries.
As a kind of specific embodiment of the invention, the end of resilient legs 5 is equipped with and bullet referring to FIG. 1 to FIG. 4,
The property vertical bracket 11 of 5 length direction of supporting leg, idler wheel 7 are spindle rotationally arranged in the middle part of bracket 11, and the both ends of bracket 11 are equipped with
To the bending part of the side of link block 3 bending, rotation is equipped with auxiliary wheel 12 on two bending parts.In the present embodiment, bracket 11 is welded
It connects and is fixed on the side wall of 5 end of resilient legs, the first motor 6 for driving idler wheel 7 to rotate is welded on the end of resilient legs 5
Bracket 11 is run through at the driving end at end, first motor 6, connects the axis of idler wheel 7, and two bending parts of bracket 11 are rotatablely installed respectively
There is auxiliary wheel 12, when occurring protrusion in pipeline or variable diameter jumps the variation of precipice formula, idler wheel 7 can pass through by the auxiliary wheel 12 of two sides.
As a kind of specific embodiment of the invention, referring to Fig. 7, in order to provide the function of present apparatus automatic control,
Optional controller realizes that multiple motor operation opening and closings and multiple motors successively run the control of relationship, and controller is mountable to set
On standby ontology, it is electrically connected respectively with each motor, on blower 1, protecting crust 2 or link block 3；Wireless mode connection can also be used
Controller, realize each motor and progress electric machine controller wireless connection, facilitate operator to operate.
Controller selects the ATmega128 model single-chip microcontroller in AVR as main control processor, and FPGA is with from the mould of processor
Formula cooperates main control processor operation, and FPGA selects the Cyclone series EP1C6Q240 chip of altera corp, while adding LCD
Display screen and operation control panel, LCD display select 10.4 cun of industry control module A T104XH11 model display screens of Mitsubishi,
The outdoor scene situation in pipeline can be observed at any time by LCD display, device, control robot can star by control panel
Forward-reverse in the duct, and adjustment when encountering obstacle etc..
Referring to Fig. 8, carrying out practically process of the invention measures to be cleaned before carrying out pipe-line purging using the present apparatus
The internal diameter of pipeline controls lateral adjustments motor, lateral adjustments motor rotation difference using controller according to the size of internal diameter of the pipeline
The first draught line in two link blocks 3 is driven to recycle, the first draught line pulls in multiple resilient legs 5 simultaneously into link block 3,
Eight resilient legs 5 on two link blocks 3 are taken in respectively in corresponding link block 3, and the end profile of multiple resilient legs 5 is made
Less than internal diameter of the pipeline, the present apparatus is axially put into one end of pipeline along pipeline.
After the present apparatus enters the inside of pipeline one end, lateral adjustments motor is controlled by controller, the first draught line is driven to return
Retractable cable, multiple resilient legs 5 act against in inner wall of the pipe simultaneously under the elastic force effect of the first spring 4, i.e. 5 end of resilient legs
The idler wheel 7 at end acts against in inner wall of the pipe, guarantees this stabilization in pipeline.
After the present apparatus is stablized in pipeline, vertical adjustment motor is controlled by controller and drives the recycling of the second draught line, the
Two draught lines drive end cap 10 to compress the connecting spring 804 between multistage interconnecting piece, so that the entire length of cleaning head 8 becomes
It is short, likewise, the first spring 4 is shunk under the pressure of 8 part of cleaning head, further if the second draught line continues to recycle
The length for reducing the present apparatus controls vertical adjustment motor by controller and drives the second draught line unwrapping wire, and end cap 10 is connected
The elastic force of spring 804 is displaced outwardly end cap 10, so that the entire length of cleaning head 8 is elongated, vertical adjustment motor adjusts this dress
The length set, in the adjusting visual pipeline of present apparatus length depending on the concrete condition of dust and sundries, when in pipeline dust and
When impurity is more, cleaning head 8 is shunk by vertical adjustment motor, the hairbrush on cleaning head 8 is concentrated and is cleaned, cleans effect more
It is good；When the dust and impurities in pipeline are less, extend cleaning head 8 by vertical adjustment motor, by the hairbrush on cleaning head 8
Dispersion cleans, and sweeping efficiency is higher.
It, will pipe using the wind that blower generates by controller control fan motor prior to starting after the present apparatus is adjusted properly
The existing blowout of floating dust or sundries in road, avoiding sundries excessively influences the traveling of the present apparatus, manages it is also possible to be frightened using wind
Interior toy that may be present.It is controlled later by controller and cleans motor and multiple first motors 6 (leading portion motor and back segment electricity
Machine) start simultaneously, cleaning head 8 rotates under the drive for cleaning motor along inner wall of the pipe, rotates hairbrush constantly and removes in pipeline
The dust and sundries of wall；Multiple first motor 6 (leading portion motor and back segment motor) startings, multiple drives pair simultaneously of first motors 6
The idler wheel 7 answered rotates, and multiple rotations of idler wheel 7 drive this to advance in pipeline, and the revolving speed of first motor 6 is controlled by controller
The variation for realizing the revolving speed of idler wheel 7, to realize travel speed of the whole device in pipeline.
The picture in transmission pipeline is realized when the present apparatus is advanced in pipeline, after the camera shooting of two 8 ends of cleaning head, it is convenient
The situation that the personnel of the operation present apparatus understand in pipeline makes corresponding adjustment in time.
When the present apparatus completes the pipe-line purging arrival pipeline other end, controller controls lateral adjustments motor, lateral adjustments electricity
Machine rotation drives the first draught line recycling in two link blocks 3 respectively, and the first draught line pulls in multiple simultaneously into link block 3
Resilient legs 5, eight resilient legs 5 on two link blocks 3 are taken in respectively in corresponding link block 3, and de- with inner wall of the pipe
From, make multiple resilient legs 5 end profile be less than internal diameter of the pipeline, by the present apparatus from the other end of pipeline take out, to complete
The cleaning work of entire pipeline.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. inner wall of the pipe sweeping robot characterized by comprising
Blower, outside mask are equipped with protecting crust；
Two link blocks are installed on the two sides of the protecting crust, the circumferential uniformly installation of the link block by the first spring respectively
There are multiple resilient legs, the end of the resilient legs is equipped with the idler wheel driven by first motor, and multiple idler wheels lead to respectively
Multiple resilient legs are crossed for being resisted against the inner wall of the pipe；
Two cleaning heads, are separately positioned on two sides of the link block far from the blower, and the cleaning head is circumferentially installed
Have multiple for cleaning inner wall of the pipe hairbrush；
Two driving mechanisms, are respectively arranged in the two sides of the protecting crust, and are located in two first springs, two
The driving mechanism is respectively used to that the cleaning head is driven to rotate.
2. inner wall of the pipe sweeping robot as described in claim 1, which is characterized in that the inner wall of the pipe sweeping robot is also
Include:
Two end caps are separately positioned on the end of the cleaning head, are used to install camera on the end cap.
3. inner wall of the pipe sweeping robot as claimed in claim 2, which is characterized in that the cleaning head includes:
The described one end of link block far from first spring is arranged in first connecting portion, rotation；
Second connecting portion is plugged in the one end of the first connecting portion far from the link block；
Third interconnecting piece, is plugged in the one end of the second connecting portion far from the first connecting portion, and the end cap is arranged in institute
State the one end of third interconnecting piece far from the second connecting portion；
Multiple connecting springs are respectively used to connect the first connecting portion and the link block, for connecting first connection
Portion and the second connecting portion；
The circumferential direction of the first connecting portion, the second connecting portion and the third interconnecting piece offers multiple for installing hairbrush
Mounting hole.
4. inner wall of the pipe sweeping robot as claimed in claim 2, which is characterized in that the resilient legs include:
Casing is fixed on the side wall of the link block；
Support rod is arranged in described sleeve pipe, and the idler wheel is mounted on the one end of the support rod far from described sleeve pipe；
Second spring is arranged in described sleeve pipe, close to the side of the link block, for abutting against the support rod.
5. inner wall of the pipe sweeping robot as claimed in claim 4, which is characterized in that the resilient legs further include:
Sliding block is arranged in one end that the support rod penetrates described sleeve pipe, is slideably positioned in described sleeve pipe；
Described sleeve pipe is arranged in close to one end of the support rod, for stopping the sliding block to skid off described sleeve pipe in baffle ring.
6. inner wall of the pipe sweeping robot as claimed in claim 5, which is characterized in that described sleeve pipe is rectangular tube, the cunning
Block be and the matched rectangular block in described sleeve pipe inner cavity.
7. inner wall of the pipe sweeping robot as claimed in claim 4, which is characterized in that the driving mechanism includes:
Control cabinet is fixed at the side of the protecting crust；
Second motor is installed in the control cabinet；
Transmission component, the driving end of connection second motor and the cleaning head, for driving the cleaning head to rotate.
8. inner wall of the pipe sweeping robot as claimed in claim 7, which is characterized in that the transmission component includes:
Multiple transmission sections, axial series, the transmission section positioned at both ends are separately connected driving end and the institute of second motor
State cleaning head；
The both ends of the transmission section are equipped with rood beam, are axially arranged with multiple rood beam ends for connecting both ends and connect
Bar, a rood beam of the transmission section is located between two rood beams of the adjacent transmission section, and the biography
One connecting rod of dynamic section is located between the two neighboring connecting rod of the adjacent transmission section.
9. inner wall of the pipe sweeping robot as claimed in claim 8, which is characterized in that be additionally provided in the control cabinet:
First reel is rotatably arranged in the control cabinet；
Multiple first draught lines, one end fixation are set around on the axis of first reel, and the other end extends through same institute
Multiple described sleeve pipes of link block are stated, and are connected to the support rod close to one end of the link block, for driving the branch
Strut compresses the second spring；
Second reel is rotatably arranged in the control cabinet；
Second draught line, one end fixation are set around on the axis of second reel, and the other end sequentially passes through the link block
Ipsilateral multiple transmissions, which are saved, connects the end cap with the cleaning head, for driving the end cap to compress multiple connections
Spring.
10. inner wall of the pipe sweeping robot as described in claim 1, which is characterized in that install the end of the resilient legs
There is the bracket vertical with the resilient legs length direction, the idler wheel is spindle rotationally arranged in the middle part of the bracket, described
The both ends of bracket are equipped with the bending part bent to the side of the link block, and rotation is equipped with auxiliary wheel on two bending parts.
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| CN201910691029.1A CN110280550B (en) | 2019-07-29 | 2019-07-29 | Robot for cleaning inner wall of pipeline |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910691029.1A CN110280550B (en) | 2019-07-29 | 2019-07-29 | Robot for cleaning inner wall of pipeline |
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| CN110280550B CN110280550B (en) | 2024-08-13 |
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| CN110624900A (en) * | 2019-10-09 | 2019-12-31 | 浙江海洋大学 | A mud belt cleaning device for dock bottom |
| CN110695021A (en) * | 2019-10-30 | 2020-01-17 | 汕头市澄海区骏意设计有限公司 | Pipeline cleaning machine |
| CN110773523A (en) * | 2019-11-05 | 2020-02-11 | 潘庆华 | Inner wall cleaning device for pipeline |
| CN112305071A (en) * | 2020-10-23 | 2021-02-02 | 齐鲁工业大学 | Guided wave detection tube external robot based on Mecanum wheel and working method thereof |
| CN112474640A (en) * | 2020-11-13 | 2021-03-12 | 长缆电工科技股份有限公司 | Device for detecting and cleaning inner wall of pipeline and pipeline cleaning method |
| CN113198811A (en) * | 2021-06-08 | 2021-08-03 | 池国财 | Pipeline inner wall cleaning robot equipment for pipeline cleaning |
| CN113483192A (en) * | 2021-06-17 | 2021-10-08 | 中广核研究院有限公司 | Pipeline crawling carrier |
| TWI771935B (en) * | 2021-02-26 | 2022-07-21 | 正修學校財團法人正修科技大學 | Pipeline cleaning robot |
| CN116202098A (en) * | 2023-05-05 | 2023-06-02 | 济宁市建设工程质量安全技术中心 | Chimney sealing type automatic cleaning device and control method |
| CN117047582A (en) * | 2023-10-11 | 2023-11-14 | 太原理工大学 | Variable-diameter high-precision steel pipe inner wall coping robot |
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| CN113198811A (en) * | 2021-06-08 | 2021-08-03 | 池国财 | Pipeline inner wall cleaning robot equipment for pipeline cleaning |
| CN113483192A (en) * | 2021-06-17 | 2021-10-08 | 中广核研究院有限公司 | Pipeline crawling carrier |
| CN116202098A (en) * | 2023-05-05 | 2023-06-02 | 济宁市建设工程质量安全技术中心 | Chimney sealing type automatic cleaning device and control method |
| CN117047582A (en) * | 2023-10-11 | 2023-11-14 | 太原理工大学 | Variable-diameter high-precision steel pipe inner wall coping robot |
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