CN112934872A - Cleaning robot in pipe - Google Patents
Cleaning robot in pipe Download PDFInfo
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- CN112934872A CN112934872A CN202110354105.7A CN202110354105A CN112934872A CN 112934872 A CN112934872 A CN 112934872A CN 202110354105 A CN202110354105 A CN 202110354105A CN 112934872 A CN112934872 A CN 112934872A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 105
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 239000007789 gas Substances 0.000 description 12
- 239000003638 chemical reducing agent Substances 0.000 description 10
- 238000000034 method Methods 0.000 description 10
- 239000000428 dust Substances 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 5
- BLRPTPMANUNPDV-UHFFFAOYSA-N Silane Chemical compound [SiH4] BLRPTPMANUNPDV-UHFFFAOYSA-N 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 229910000077 silane Inorganic materials 0.000 description 4
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 229910052757 nitrogen Inorganic materials 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 235000012239 silicon dioxide Nutrition 0.000 description 1
- 239000000377 silicon dioxide Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
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Abstract
The application relates to the field of pipeline cleaning, and relates to a cleaning robot in a pipe. The robot includes: a rotary power mechanism, a scraper and a spiral walking wheel. The scraper is connected to the first output end of the rotary power mechanism in a transmission mode, and the spiral traveling wheel is connected to the second output end in a transmission mode. The surface of the spiral walking wheel is provided with a convex spiral friction part which is used for contacting with the inner wall of the pipeline and generating friction force. When the cleaning robot is used for cleaning in a pipeline, the rotary power mechanism can drive the spiral walking wheel to rotate, and the spiral friction part protruding from the surface of the spiral walking wheel can be contacted with the inner wall of the pipeline to generate friction force so as to push the cleaning robot in the pipeline to move forwards or backwards in the pipeline; and meanwhile, the rotary power mechanism can drive the scraper to rotate to clean the accumulated scale in the pipeline. The cleaning robot in the pipe can replace the existing manual disassembly cleaning mode to carry out automatic pipe cleaning operation so as to improve the pipe cleaning efficiency.
Description
Technical Field
The application relates to the field of pipeline cleaning, in particular to an in-pipe cleaning robot.
Background
At present, silane can be used in a coating process section of a solar cell production workshop due to process requirements, and a large amount of silicon dioxide powder can be generated after the silane is combusted. The current treatment mode is that a vacuum pump generates negative pressure to suck out silane in the inner cavity of a machine table, and the silane is combusted and converted into tail gas containing silicon dioxide and other substances in pretreatment equipment in a workshop. The part of tail gas is discharged to a plant service end through a pipeline, and is discharged into the atmosphere after being reprocessed to reach the standard by a plant service end tail gas treatment device.
However, in the tail gas conveying process, a part of silicon dioxide powder can be attached to the inner wall of the pipe to be accumulated into scale, the thickness of the scale gradually increases along with the time, the tail gas conveying capacity is weakened when the certain thickness is reached, and the pipeline can be seriously blocked.
In order to ensure the conveying capacity of the tail gas, the scale on the inner wall of the pipeline needs to be cleaned regularly. At present, the pipeline cleaning is realized in a manual cleaning mode, a large number of pipelines need to be disassembled in the process, the workload is high, and the multiple people are required to operate cooperatively, so that the maintenance cost is high. Meanwhile, a large amount of dust is generated in the pipeline dismantling and cleaning processes, so that equipment and the ground are polluted, and great troubles are caused to the clean room management and control.
Disclosure of Invention
An object of the embodiment of the application is to provide a cleaning robot in pipe, it aims at improving the problem that current pipeline clearance needs the manual work to dismantle the pipeline and clear up, and the operation is numerous and diverse, inefficiency.
In a first aspect, the present application provides a cleaning robot in a pipe, comprising:
the rotating power mechanism is provided with a first output end and a second output end;
the scraper is in transmission connection with the first output end; and
the spiral traveling wheel is in transmission connection with the second output end; the surface of the spiral walking wheel is provided with a convex spiral friction part which is used for contacting with the inner wall of the pipeline and generating friction force.
Through setting up spiral walking wheel transmission and connecting in the second output, rotatory power unit can drive spiral walking wheel and rotate, when this intraductal clearance robot cleared up in the pipeline, spiral walking wheel surface convex spiral form friction portion can contact and produce frictional force with the pipeline inner wall to promote this intraductal clearance robot and advance or retreat in the pipeline. Simultaneously because the scraper transmission is connected in rotary power mechanism's first output, consequently rotary power mechanism can drive the rotatory scaling in the clearance pipeline of scraper, realizes that rotary power mechanism drives intraductal cleaning robot simultaneously and removes and rotatory clearance scaling in the pipeline promptly. The in-pipe cleaning robot is compact in structure, small in size and capable of cleaning in a pipeline. The cleaning robot in the pipe can replace the existing manual disassembly cleaning mode to carry out automatic pipe cleaning operation so as to improve the pipe cleaning efficiency and reduce the maintenance cost. Due to the fact that the pipeline is prevented from being disassembled, the generation of a large amount of dust is avoided, the pollution to equipment and the ground is avoided, and the management and control of the clean room are facilitated.
In other embodiments of the present application, the helical road wheel rotates in a direction opposite to the direction of rotation of the scraper.
The rotating direction of the spiral traveling wheels is opposite to that of the scraper, so that the twisting moment generated by the rotation of the scraper can be offset, and the cleaning robot in the pipe can stably move in the pipe.
In other embodiments of the present application, the rotational speed of the helical road wheel is less than the rotational speed of the scraper.
The rotating speed of the spiral walking wheels is lower than that of the scraper, so that the moving speed of the cleaning robot in the pipeline is lower than the rotating cleaning speed, sufficient cleaning time is guaranteed, and the cleaning effect is improved.
In other embodiments of the present application, the directions of the first output end and the second output end are opposite, and the axes of the first output end and the second output end are collinear or parallel.
The first output end and the second output end are arranged in opposite directions, and the axial leads of the first output end and the second output end are collinear or parallel, so that the cleaning robot in the whole pipe is further small in size, compact in structure and convenient to move and clean in the pipe.
Further optionally, when the in-pipe cleaning robot is in a non-working state, the axial lines of the scraper and the spiral walking wheel are collinear. Thereby greatly reduced whole intraductal clearance robot's volume for compact structure is convenient for get into the pipeline, removes and clears up.
In other embodiments of the present application, the friction part includes a plurality of elastic ribs, and each of the elastic ribs is not parallel to and perpendicular to an axis of the spiral traveling wheel.
In other embodiments of the present application, the above-mentioned in-pipe cleaning robot comprises at least two centering anti-twisting parts; the centering anti-twisting component comprises a connecting rod, a wheel and an elastic piece; one end of the connecting rod is connected to the shell of the rotary power mechanism, and the other end of the connecting rod is connected with the wheel and the elastic piece; one end of the elastic part is connected with the shell of the rotary power mechanism, and the other end of the elastic part is connected with the connecting rod.
In other embodiments of the present application, the cleaning robot inside the pipe includes four centering anti-twisting parts, and the four centering anti-twisting parts are uniformly distributed in a circumferential direction of a housing of the rotational power mechanism.
In other embodiments of the present application, the above cleaning robot comprises a universal joint, the universal joint is connected to the first output end in a transmission manner, and the scraper is connected to the universal joint in a transmission manner.
In other embodiments of the present application, the scraper includes a scraper body, a rotating shaft; the pivot transmission is connected in first output, and the scraper body is installed in the pivot.
Further optionally, the in-tube cleaning robot comprises a brush; the brush is installed in the pivot, and for the scraper body, the brush is close to first output setting.
Further optionally, the diameter of the scraper body is less than 2% to 15% of the diameter of the brush.
In other embodiments of the present application, the rotational power mechanism is a pneumatic motor; the spiral traveling wheel is provided with an air inlet used for introducing air into the pneumatic motor so as to drive the pneumatic motor to rotate;
and a pneumatic reversing valve is arranged in the rotary power mechanism and used for changing the rotation direction of the pneumatic motor.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a schematic diagram of an in-pipe cleaning robot according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of an in-pipe cleaning robot in a cleaning state in a pipeline according to an embodiment of the present application.
Icon: 10-a pipeline; 20-trachea; 100-a cleaning robot in the pipe; 110-a rotary power mechanism; 111-a first output; 120-a scraper; 121-a scraper body; 122-a rotating shaft; 123-a brush; 130-spiral walking wheels; 131-a rotating part; 132-a friction portion; 133-a locking nut; 134-air inlet; 140-a gimbal; 150-centering anti-twist member; 151-connecting rod; 152-wheels; 153-elastic member.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present application, it should be understood that the indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, or the orientations or positional relationships that the products of the application usually place when in use, or the orientations or positional relationships that the skilled person usually understands, are only for convenience of description and simplification of description, and do not indicate or imply that the indicated devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and therefore, should not be construed as limiting the application.
Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," and "connected" are to be construed broadly, and may for example be fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Referring to fig. 1, an embodiment of the present application provides an in-pipe cleaning robot 100, including: a rotation power mechanism 110, a scraper 120 and a spiral traveling wheel 130.
Further, the rotational power mechanism 110 has a first output end 111 and a second output end (not shown). Further, the scraper 120 is drivingly connected to the first output end 111. The helical road wheel 130 is in transmission connection with the second output end. The spiral traveling wheel 130 has a surface with a convex spiral friction part 132, and the friction part 132 is used to contact the inner wall of the pipe and generate friction force.
Through setting up spiral walking wheel 130 transmission and connecting in the second output, rotatory power unit 110 can drive spiral walking wheel 130 and rotate, when this intraductal clearance robot 100 cleared up in the pipeline, the protruding heliciform friction part 132 in spiral walking wheel 130 surface can contact and produce frictional force with the pipeline inner wall to promote this intraductal clearance robot 100 to advance or retreat in the pipeline. Meanwhile, the scraper 120 is in transmission connection with the first output end 111 of the rotary power mechanism 110, so that the rotary power mechanism 110 can drive the scraper 120 to rotate to clean the scales in the pipeline, that is, the rotary power mechanism 110 can simultaneously drive the in-pipe cleaning robot 100 to move in the pipeline and rotate to clean the scales. Because only one rotary power mechanism 110 is arranged, the cleaning robot 100 in the pipe has small volume and compact structure, and can move and clean in the pipe. This intraductal clearance robot 100 can replace current manual work to dismantle clearance mode, carries out automatic pigging operation to promote pipeline cleaning efficiency, reduce the maintenance cost. Due to the fact that the pipeline is prevented from being disassembled, the generation of a large amount of dust is avoided, the pollution to equipment and the ground is avoided, and the management and control of the clean room are facilitated.
Further, the first output end 111 and the second output end are opposite in direction, and the axes of the two output ends are collinear or parallel.
Through setting up the axial lead collineation or the parallel of first output 111 with the second output, through the opposite direction that sets up first output 111 and second output, and the axial lead collineation or the parallel of the two for cleaning robot 100's in whole pipe volume is less, compact structure, is convenient for remove in the pipeline and clearance.
Further optionally, when the in-pipe cleaning robot 100 is in the non-operating state, the axes of the scraper 120 and the helical road wheel 130 are collinear. Thereby greatly reducing the volume of the whole in-pipe cleaning robot 100, having compact structure and being convenient for entering the pipeline to move and clean.
When the cleaning robot 100 in the pipe is placed in the pipe for cleaning, the scraper 120 firstly extends into the pipe, namely the scraper 120 rotates in front to form an upper path rotation, so that the scale in the pipe is cleaned in a rotating manner; the spiral traveling wheels 130 enter the pipeline to form a downward rotation, and the cleaning robot 100 in the pipeline is pushed to move by the friction force between the spiral traveling wheels and the pipeline wall.
Further, the spiral traveling wheel 130 rotates in the opposite direction to the rotation of the scraper 120. The rotating direction of the spiral traveling wheel 130 is opposite to that of the scraper 120, so that the torsional moment generated by the rotation of the scraper 120 can be offset, and the in-pipe cleaning robot 100 can stably move in the pipeline.
In other alternative embodiments of the present application, the rotation direction of the spiral traveling wheel 130 and the rotation direction of the scraper 120 may be set to be the same according to practical situations.
Further optionally, the rotational speed of the helical road wheel 130 is less than the rotational speed of the scraper 120. The rotating speed of the spiral traveling wheel 130 is lower than that of the scraper 120, so that the moving speed of the cleaning robot 100 in the pipeline is lower than the rotating cleaning speed, sufficient cleaning time is ensured, and the cleaning effect is improved.
In other alternative embodiments of the present application, the spiral traveling wheel 130 and the scraper 120 may be set to rotate at the same speed, or even the spiral traveling wheel 130 may rotate at a speed greater than the rotation of the scraper 120, depending on the actual situation, such as less dirt in the pipe or higher requirement for cleaning speed.
In some embodiments of the present application, the pipe cleaning robot 100 includes a speed reducer (not shown), an input end of the speed reducer is drivingly connected to a second output end, and an output end of the speed reducer is drivingly connected to the helical road wheel 130; the speed reducer is used for enabling the rotation direction of the spiral traveling wheel 130 to be opposite to the rotation direction of the second output end, and enabling the rotation speed of the spiral traveling wheel 130 to be lower than that of the second output end.
Further alternatively, the above-mentioned reducer may be selected from a gear reducer, a worm reducer, and the like, which are commonly known in the art.
The rotation direction of the spiral traveling wheel 130 is opposite to the rotation direction of the scraper 120 by providing the speed reducer, and the rotation speed of the spiral traveling wheel 130 is less than that of the scraper 120.
Further, in some embodiments, the helical road wheel 130 includes a rotating portion 131 and a friction portion 132. Further, the rotating portion 131 is connected to the second output end in a transmission manner, and the friction portion 132 is sleeved outside the rotating portion 131.
By fitting the friction portion 132 to the outside of the rotating portion 131, the friction force between the rotating portion 131 and the inner wall of the pipe can be increased.
In the illustrated embodiment, the rotating portion 131 has a cylindrical shape and is drivingly connected to the rotational power mechanism 110. The rotation power mechanism 110 has a housing, a speed reducer is provided in the housing, and is connected to the rotation power mechanism 110, and the rotation part 131 is connected to the speed reducer. And is fastened to the end of the housing of the rotational power mechanism 110 by a locking nut 133.
In some embodiments of the present application, the aforementioned rotational power mechanism 110 is an air motor.
Further, in some embodiments, the helical road wheel 130 is provided with an air inlet 134 for introducing air into the pneumatic motor to drive the pneumatic motor to rotate.
Further, the gas is selected from compressed air or nitrogen.
In the illustrated embodiment, a quick air pipe joint is disposed at the air inlet 134, so that an air pipe can be conveniently connected to introduce air into the rotational power mechanism 110, and the air pipe is used as an energy source to drive the rotational power mechanism 110 to rotate.
Further, in some embodiments, a pneumatic reversing valve (not shown) is disposed inside the rotary power mechanism 110 for changing the rotation direction of the pneumatic motor.
By arranging the pneumatic reversing valve, the flowing direction of the gas can be changed, so that the rotating direction of the rotating power mechanism 110 is changed, and the advancing and rear leg switching of the cleaning robot 100 in the pipe is realized.
In other alternative embodiments of the present application, the rotational power mechanism 110 may also select another rotational driving component such as a motor according to practical situations.
Further, the friction portion 132 includes a plurality of elastic ribs, the plurality of elastic ribs are sleeved on the rotating portion 131, and each elastic rib is not parallel to and perpendicular to the axial line L of the rotating portion 131.
By providing each elastic rib to be not parallel and perpendicular to the axis L of the rotating part 131, when the friction part 132 contacts the inner wall of the pipe to generate a friction force, the friction force can be resolved into a force along the axis L direction, so that the entire pipe cleaning robot 100 can be driven to move forward or backward along the axis L direction.
Further, referring to fig. 1, an angle α between each of the elastic projected ridges and the axis L of the rotating portion 131 is in the range of 30 ° to 60 °. Illustratively, the angle between each of the elastic projected ridges and the axis L of the rotating portion 131 is 35 °, 40 °, 45 °, or 50 °.
In the illustrated embodiment, each of the elastic projected ridges has an angle of 45 ° with respect to the axial line L of the rotating portion 131.
Further, in some embodiments of the present application, the elastic rib is an elastic rubber strip.
In other alternative embodiments of the present disclosure, other materials or other shapes may be selected for the elastic ribs.
Further, the helical road wheel 130 is drivingly connected to the second output end.
In some embodiments of the present application, the cleaning robot 100 includes a universal joint 140, the universal joint 140 is drivingly connected to the first output end 111, and the scraper 120 is drivingly connected to the universal joint 140.
By providing the universal joint 140, the scraper 120 can clean the inner wall of the pipe more flexibly. The cleaning robot can also be applied to a pipe with a bend, so that the application range of the cleaning robot 100 in the pipe can be improved.
In the illustrated embodiment, one end of the universal joint 140 is pivotally connected to the first output end 111 of the rotational power mechanism 110, and the other end is pivotally connected to the scraper 120.
Further, the scraper 120 includes a scraper body 121 and a rotating shaft 122. Further, the rotating shaft 122 is connected to the first output end 111 in a driving manner, and the scraper body 121 is mounted on the rotating shaft 122.
Through installing scraper body 121 on pivot 122 to connect pivot 122 transmission in first output 111, thereby can rotate at rotary power mechanism 110, drive pivot 122 rotates, and then drives the scraper body 121 of installing on pivot 122 rotatory, and then can strike off the scaling on the pipe wall to the pipeline inner wall at rotatory in-process.
Further, the in-tube cleaning robot 100 includes a brush 123; the brush 123 is mounted on the rotating shaft 122, and the brush 123 is disposed near the first output end 111 with respect to the scraper body 121.
By installing the brush 123 on the rotating shaft 122, when the rotating power mechanism 110 rotates, the rotating shaft 122 can be driven to rotate, and then the scraper body 121 installed on the rotating shaft 122 is driven to rotate, so that the inner wall of the pipeline can be brushed off in the rotating process.
Further optionally, the diameter of the scraper body 121 is less than 2% to 15% of the diameter of the brush 123. Further optionally, the diameter of the scraper body 121 is less than 3% to 14% of the diameter of the brush 123. Illustratively, the diameter of the scraper body 121 is less than 4%, 6%, 8%, 10%, or 12% of the diameter of the brush 123.
The inner diameter of the pipe after the scraper body 121 is scraped and cleaned is slightly larger than that of the pipe containing the scale, and the diameter of the scraper body 121 is set to be 2% -15% smaller than that of the brush, so that the brush 123 can be used for supplementing and further cleaning the scraper body 121 after cleaning. Scraper body 121 cleans as the one-level in the front, and brush 123 cleans as the second grade at scraper body 121's back, has greatly improved the clearance effect, has guaranteed cleaning quality.
Further, the diameter of the scraper body 121 is slightly smaller than the inner diameter of the pipe (inner diameter of the pipe containing scale). Optionally, the diameter of the scraper body 121 is 2% -10% smaller than the diameter of the pipeline, so that the scraper body 121 can be ensured to smoothly enter the pipeline for cleaning.
Further, the diameter of the brush 123 is greater than or equal to the inner diameter of the pipe, and optionally, is not greater than 5% of the inner diameter of the pipe, so that it is possible to ensure that the pipe is cleaned thoroughly as a secondary cleaning behind the scraper body 121.
Further, by positioning the brush 123 close to the first output end 111, the doctor body 121 is in front and the brush 123 is in rear during the advance of the tube cleaning robot 100. That is, scraper body 121 strikes off the scaling on the pipe wall in the front, then brush 123 further brushes the remaining scaling that scraper body 121 has not cleared up clean at the back further to can clear up the pipeline inner wall under the double-barrelled, further improve the clearance effect.
Further, the in-pipe cleaning robot 100 includes a centering anti-twisting member 150. Further, the centering anti-twisting member 150 includes at least two centering anti-twisting members 150.
Through setting up two at least centering anti-twist parts 150, can grasp the pipe wall when intraductal cleaning robot 100 gets into the pipeline and clear up for intraductal cleaning robot 100 advances in the pipeline steadily, reduces the phenomenon such as swing of intraductal cleaning robot 100 in the in-process of advancing.
Further, the centering anti-twisting member 150 includes a connecting rod 151, a wheel 152, and an elastic member 153.
Further, one end of the connection rod 151 is connected to the housing of the rotational power mechanism 110, and the other end is connected to the wheel 152 and the elastic member 153. Further, one end of the elastic member 153 is connected to the housing of the rotational power mechanism 110, and the other end is connected to the connection rod 151.
By providing the elastic member 153, an elastic force can be generated to the connection rod 151. In free state, when intraductal clearance robot 100 did not enter into the pipeline in, connecting rod 151 is connected with the one end perk of wheel 152 and opens in the casing of rotary power mechanism 110, elastic component 153 is in free state, in intraductal clearance robot 100 entered into the pipeline, and when centering anti-twist parts 150's wheel 152 butt pipeline inner wall, elastic component 153 is compressed, produce the elastic force, act on the pipeline inner wall, thereby stabilize whole intraductal clearance robot 100 in the pipeline, the torsion of intraductal clearance robot 100 has greatly been avoided and has been rocked, and then can guarantee that whole intraductal clearance robot 100 keeps steadily when advancing in the pipeline.
Further, in some embodiments of the present application, the elastic member 153 may be a spring, a compression spring, or the like.
Further, in some embodiments of the present application. The centering anti-twisting member 150 includes three, four, or five, etc.
In the illustrated embodiment, the in-pipe cleaning robot 100 includes four centering anti-twisting parts 150, and the four centering anti-twisting parts 150 are uniformly distributed in the circumferential direction of the housing of the rotational power mechanism 110.
By providing the four centering anti-twisting members 150, the stability of the pipe cleaning robot 100 when it moves in the pipe can be greatly improved.
Further, the connecting rod 151 is rod-shaped, plate-shaped, or the like.
In the illustrated embodiment, the connecting rod 151 includes two rods, one end of each of the two rods is mounted on the housing of the rotation power mechanism 110, a certain gap is formed between the two rods, and the other end of each of the two rods is mounted with the wheel 152. A wheel 152 is mounted between the two rods. The resilient member 153 is attached to the shaft adjacent the wheel 152.
Through setting up wheel 152, can advance in the pipe along with intraductal cleaning robot 100 together, guarantee to prevent that intraductal cleaning robot 100 from twisting synchronous advancing under the prerequisite, do not influence intraductal cleaning robot 100's motion performance.
The in-pipe cleaning robot 100 provided by the embodiment of the present application has a wide application range. The method is particularly suitable for: the original inner surface of the pipeline to be cleaned is relatively flat and smooth, inorganic scale-shaped objects with certain thickness are attached to the inner wall during cleaning, and the attached scales can be pulverized under the action of external force. Meanwhile, negative pressure is carried in the pipe to be cleaned for air exhaust, so that the cleaned dust can be sucked away in time, and the robot is prevented from being blocked by the cleaned dust.
Referring to fig. 2, the following exemplarily illustrates a method for using the in-pipe cleaning robot 100 according to the embodiment of the present application:
the in-pipe cleaning robot 100 provided by the embodiment of the application is applied to cleaning a coating process section of a solar cell production workshop, and in a tail gas conveying pipeline, a part of silicon dioxide powder is attached to the inner wall of a pipe and is accumulated to form scale.
The air pipe 20 is connected to the air inlet 134 of the in-pipe cleaning robot 100; the cleaning robot 100 in the pipe is placed at the opened opening of the pipe 10, then a switch of a gas energy source (such as compressed air) is turned on, the rotating direction of the scraper 120 is checked, the scraper 120 is slowly pushed into the pipe to the centering anti-twisting part 150, the wheel 152 is hooped towards the middle of the pipe wall, the pipe is continuously pushed into the pipe, the spiral walking wheel 130 can be loosened when completely entering the pipe, and then the self-cleaning operation is carried out. After the pipe section is cleaned, the gas energy source switch is switched off, then the gas energy source switch is immediately switched on again, and the in-pipe cleaning robot 100 exits from the pipe section.
In other alternative embodiments of the present application, to achieve fast-backward, a flow control valve may be added before the air source switch to increase the operation speed of the rotational power mechanism 110.
In other alternative embodiments of the present application, the pipe cleaning operation of the in-pipe cleaning robot 100 is to arrange an air pipe and an anti-drop safety rope corresponding to the cleaned pipe section, and mark a length mark on the air pipe.
In other alternative embodiments of the present application, the in-pipe cleaning robot 100 further comprises an air source control switch and a flow regulating device.
The intraductal clearance robot 100 that this application embodiment provided can replace current manual work to dismantle clearance mode, carries out automatic dredging pipe operation to promote pipeline cleaning efficiency, reduce the maintenance cost. Meanwhile, the problem of dust pollution in the pipeline cleaning process is solved, and a good promoting effect is achieved for the environmental management and control of the clean room. In addition, the in-pipe cleaning robot 100 is simple in structure, good in economical efficiency, and capable of being produced, manufactured and popularized.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. An in-pipe cleaning robot, comprising:
the rotating power mechanism is provided with a first output end and a second output end;
the scraper is in transmission connection with the first output end; and
the spiral traveling wheel is in transmission connection with the second output end; the surface of the spiral walking wheel is provided with a convex spiral friction part which is used for contacting the inner wall of the pipeline and generating friction force.
2. The in-pipe cleaning robot according to claim 1,
the rotation direction of the spiral traveling wheel is opposite to that of the scraper.
3. The in-pipe cleaning robot according to claim 1,
and the rotating speed of the spiral traveling wheel is less than that of the scraper.
4. The in-pipe cleaning robot according to claim 1,
the first output end and the second output end are opposite in direction, and the axial leads of the first output end and the second output end are collinear or parallel.
5. The in-pipe cleaning robot according to claim 1,
the friction part comprises a plurality of elastic convex ribs, and each elastic convex rib is not parallel to the axial lead of the spiral travelling wheel and is not vertical.
6. The in-pipe cleaning robot according to any one of claims 1 to 5,
the cleaning robot in the pipe comprises at least two centering anti-twisting components; the centering anti-twisting component comprises a connecting rod, a wheel and an elastic piece; one end of the connecting rod is connected to the shell of the rotary power mechanism, and the other end of the connecting rod is connected with the wheel and the elastic piece;
one end of the elastic part is connected to the shell of the rotary power mechanism, and the other end of the elastic part is connected to the connecting rod.
7. The in-pipe cleaning robot according to claim 6,
the cleaning robot in the pipe comprises four centering anti-twisting parts, and the four centering anti-twisting parts are uniformly distributed in the circumferential direction of a shell of the rotating power mechanism.
8. The in-pipe cleaning robot according to claim 1,
intraductal clearance robot includes the universal joint, the universal joint transmission connect in first output, the scraper transmission connect in the universal joint.
9. The in-pipe cleaning robot according to claim 1 or 8,
the scraper comprises a scraper body, a rotating shaft and a brush; the rotating shaft is in transmission connection with the first output end; the scraper body and the brush are arranged on the rotating shaft, and the brush is arranged close to the first output end relative to the scraper body; the diameter of the scraper body is smaller than 2% -15% of the diameter of the brush.
10. The in-pipe cleaning robot according to claim 1,
the rotary power mechanism is a pneumatic motor; the spiral traveling wheel is provided with an air inlet used for introducing air into the pneumatic motor so as to drive the pneumatic motor to rotate;
and a pneumatic reversing valve is arranged in the rotary power mechanism and used for changing the rotation direction of the pneumatic motor.
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| CN202110354105.7A CN112934872A (en) | 2021-03-31 | 2021-03-31 | Cleaning robot in pipe |
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| CN202110354105.7A CN112934872A (en) | 2021-03-31 | 2021-03-31 | Cleaning robot in pipe |
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Cited By (1)
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|---|---|---|---|---|
| CN114809264A (en) * | 2022-05-13 | 2022-07-29 | 刘恩明 | Water supply and drainage dredging device |
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