CN102059235A - Robot for cleaning central air-conditioning ventilating ducts - Google Patents
Robot for cleaning central air-conditioning ventilating ducts Download PDFInfo
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- CN102059235A CN102059235A CN200910223460XA CN200910223460A CN102059235A CN 102059235 A CN102059235 A CN 102059235A CN 200910223460X A CN200910223460X A CN 200910223460XA CN 200910223460 A CN200910223460 A CN 200910223460A CN 102059235 A CN102059235 A CN 102059235A
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Abstract
The invention discloses a robot for cleaning central air-conditioning ventilating ducts. The robot comprises a vehicle body and a cleaning arm, wherein the cleaning arm consists of a small connecting rod and a large connecting rod in bolt connection; the lower end of the cleaning arm is connected with a bracket at the rear of the vehicle body; the upper end of the cleaning arm is provided with a cleaning brush driving motor; a bottom box is arranged below a chassis of the vehicle body; and two sides of the vehicle body are respectively provided with two wheels, and the four wheels are respectively driven by four motors. The provided robot for cleaning the central air-conditioning ventilating ducts is applied to cleaning square and circular central air-conditioning ventilating ducts, and has the characteristics that: the robot is easy to manufacture, convenient to control, low in cost, low in power, small in volume, and easy to detach and assemble.
Description
Technical field
The present invention relates to a kind of central air-conditioning ventilation shaft cleaning robot, relate in particular to a kind of robot that is applied to the central air-conditioning pipe-line purging simple, that control is convenient, with low cost that makes.
Background technology
Continuous progress along with modern society, in the increasing high buildings and large mansions central air-conditioning is installed and is regulated indoor environment, yet because most of central air-conditioning ventilation shafts can not bear overweight quality, and ventilation shaft is narrower and small, therefore manually can not enter direct cleaning, make pipeline dust pile up, bacterium is gathered, and the air quality of exchange descends and is being mingled with a lot of harmful viruses.
Summary of the invention:
At above-mentioned deficiency, the invention provides a kind of robot that is applicable to that square, the circular central air-conditioning ventilation shaft of cleaning cleans, can be widely used in the cleaning of high buildings and large mansions central air-conditioning ventilation shaft.
The present invention is achieved by the following technical solutions: a kind of central air-conditioning ventilation pipeline sweeping, form by car body and cleaning arm, cleaning arm lift, cleaning arm is connected to form by bolt for two sections by small rod and big connecting rod, and the cleaning arm lift is made of lifting motor, support arm, lead screw pair, guide rail, bearing, bearing spider.
The lower end of described cleaning arm is connected with the support that is fixed on rear portion, car body chassis, and its upper end is equipped with the cleaning brush motor, and the cleaning brush motor can the cleaning brush of drive installation on motor shaft.
Under casing is set up in the below, chassis of described car body, and rear vehicle is set up camera by electric motor driven wheel to be equipped with two on the under casing two side respectively, and camera is connected with PC through the USB mouth, sets up ultrasonic probe at Vehicular body front.
Support arm one end of described cleaning arm lift is connected with cleaning arm, the other end is connected with the lead screw pair nut, bearing is installed in the bearing spider, leading screw is by bearing and seat supports in guide rail and the lead screw pair, one end of leading screw is connected with lifting motor by shaft coupling, and lifting motor and bearing and supporting seat are fixed on the chassis of car body.
Beneficial effect of the present invention: the device people can sail pipe interior into, with the cleaning brush drive motors pipeline arm is cleaned, the position of conversion robot can be cleaned different inwalls in the pipeline, change the direction of rotation of cleaning brush, can adapt to the cleaning of different inwalls, utilize lifting motor, the cleaning arm lift that screw pair and support arm are formed is adjusted the forward leaning angle of cleaning arm, thereby change the cleaning height, to adapt to the pipeline of different cross section, change the length that small rod changes cleaning arm, thereby change the cleaning brush height, to adapt to the pipeline of different cross section, utilize ultrasonic probe to survey car body the place ahead whether barrier is arranged, judging whether needs to turn keeps away barrier, utilize camera the cleaning arm working condition of pipe interior can be shown on PC or store, being convenient to the outside watches and has access to, the present invention can adopt PC to control, the cleaning brush drive motor, cleaning arm lifting drive motor, the power end of wheel drive motor connects with the driving power output of corresponding motor drive circuit respectively, the control utmost point of each motor drive circuit connects with single-chip microcomputer corresponding control signal output is corresponding respectively, the Hall detecting element that wheel tests the speed connects the corresponding connection of single-chip microcomputer corresponding control signal input, cleaning arm lifting limit switch connects the corresponding connection of single-chip microcomputer corresponding control signal input, the PC serial port is connected with microcontroller serial port through serial interface circuit, described camera is connected with the USB mouth of PC, and the present invention has in light weight, volume is little, flexible operation, cost of manufacture is low, has to use preferably and market development value.
Description of drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is a left view of the present invention.
Fig. 3 is a vertical view of the present invention.
Fig. 4 is a kind of control principle block diagram that adopts PC to control.
Fig. 5 is single-chip microcomputer and peripheral circuit.
In described accompanying drawing:
1, wheel 2, under casing 3, chassis 4, bearing spider 5, screw mandrel 6, bearing 7, nut 8, support arm 9, small rod 10, bolt 11, big connecting rod 12, support 13, shaft coupling 14, elevating motor 15, camera 16, ultrasonic probe 17, wheel drive motor 18, connecting axle 19, guide rail 20, cleaning brush drive motors 21, single- chip microcomputer 22,23,24 motor drive circuits 25, serial interface circuit 26, limit switch 27, Hall detecting element 28, PC 29, camera.
The specific embodiment
Referring to Fig. 1-3, car body is a lorry, Vehicular body front is equipped with ultrasonic probe 16, camera 15 is equipped with at the rear portion, whether the place ahead has barrier in the ultrasonic probe 16 detection machine people motion processes, camera monitors the working condition of robot in pipeline, each wheel of car body has a drive motors 17, car body advances or when retreating, control circuit rotates four wheels in the same way, when car body is turned, the left and right wheels direction of rotation is opposite, twin shaft output motor 20 is installed in the upper end of robot model's cleaning arm, the rotation of motor output shaft drives the cleaning brush motion, and cleaning arm is connected by bolt 10 with big connecting rod 11 by small rod 9, and cleaning arm big connecting rod 11 lower ends are connected by connecting axle 18 with support 12, big connecting rod 11 is connected the pipeline that is applicable to that internal diameter is big with the small rod of growing, and big connecting rod 11 is connected the pipeline that is applicable to that internal diameter is little with the small rod of lacking.The big connecting rod 11 of cleaning arm is connected with support arm 8 one ends, and the other end of support arm 8 is connected with nut 7 in the lead screw pair, and leading screw 5 two end supports in the lead screw pair are on 6 li on bearing, and bearing block 4 is fixed on newly to be walked on the dolly chassis 3.Lifting motor 14 drives the rotation of the leading screw 5 in the lead screw pair by shaft coupling 13, nut 7 in the moving lead screw pair of the rotating band of leading screw 5 moves forward and backward along leading screw 5 and guide rail 19, thereby drive cleaning arm around connecting axle 18 rotations by support arm 8, change the cleaning height, the angle on cleaning arm and ground can be spent between 90 degree 0 and be regulated, the under casing 2 of car body is connected with chassis 3, can prevent that dust intrusion motor from reaching element on every side.
Fig. 4 is PC control and the side circuit block diagram that drives.
The course of work of control circuit block diagram shown in Figure 4 is, starts PC (host computer), enters special-purpose control software, but on display screen the presentation control function window menu; When carrying out control command, control instruction is delivered to single-chip microcomputer (slave computer) through serial interface circuit, and single-chip microcomputer sends according to different instruction and drives signal and make it finish function corresponding respectively or synchronously to motor drive circuit.Simultaneously the Hall detecting element of vehicle wheel rotational speed is sent the fast slow signal of the rotating speed of wheel into single-chip microcomputer, and single-chip microcomputer sends for the motor drive circuit of wheel to drive signal according to tachometer signal and changes vehicle wheel rotational speed, thereby adjusts the state of the walking of car body.Cleaning arm lifting limit switch is elevated to limit position signal with cleaning arm and gives single-chip microcomputer, and single-chip microcomputer transmits control signal for the drive circuit of cleaning arm lifting drive motor according to limit position signal to stop the elevating movement of cleaning arm.Camera is delivered to the working condition in the pipeline on the PC and is shown, carries LED on the camera and is used for illuminating pipe interior.
This scheme adopts PC control, has the operating platform of intellectuality, automation and software implementation, and device volume is little, and is flexible and convenient to use, walking, cleaning accurate positioning, and it is convenient to monitor, can directly generate storage monitoring picture.
Fig. 5 is that block diagram shown in Figure 4 is a kind of practical circuit diagram, and its course of work is as follows:
1. form single-chip microcomputer (slave computer) central circuit by single-chip microcomputer U1, crystal oscillator XTAL, capacitor C 2, C3, single-chip microcomputer is selected STC89C52, after single-chip microcomputer powers on, deliver to single-chip microcomputer U1 by crystal oscillator XTAL, capacitor C 2, C3 clocking, single-chip microcomputer U1 is in holding state.
2. carriage walking drive system
By direct-flow deceleration electric motor MG1, MG2, MG3, MG4 and dc motor drive chip U2, element was formed the robot ambulation circuit around U3 reached, direct-flow deceleration electric motor is selected ZYM-25A280, dc motor drives chip and selects L298, when computer requires dolly to advance, single-chip microcomputer U1 requires to drive chip U2 to dc motor according to driving chip L298 work-based logic, U3 sends signal and makes motor M G1, MG2, MG3, the MG4 motor just changes simultaneously, when computer requires robot to retreat, single-chip microcomputer U1 requires to drive chip U2 to dc motor according to driving chip L298 work-based logic, U3 sends signal and makes motor M G1, MG2, MG3, the MG4 motor reverses simultaneously, when computer requires robot to turn left, single-chip microcomputer U1 requires to drive chip U2 transmission signal to direct current generator according to driving chip L298 work-based logic, make wheel 1,2 drive motors MG1, the MG2 counter-rotating, single-chip microcomputer U1 requires to drive chip U3 transmission signal to direct current generator according to driving chip L298 work-based logic, make wheel 3,4 drive motors MG3, MG4 just changes, when computer requires robot to turn right, single-chip microcomputer U1 requires to drive chip U2 transmission signal to direct current generator according to driving chip L298 work-based logic, make wheel 1,2 drive motors MG1, MG2 just changes, single-chip microcomputer U1 requires to drive chip U3 transmission signal to direct current generator according to driving chip L298 work-based logic, makes wheel 3,4 drive motors MG3, the MG4 counter-rotating.
3. ultrasonic circuit system
Ultrasonic transmit circuit is by phase inverter 74LS04 (U4A-U4E), ultrasound transmitting transducer T, resistance R 6, R7 forms, the 40kHz square-wave signal of the P3.2 port output of single-chip microcomputer U1 is sent into ultrasonic transmit circuit, the ultrasonic wave receiving circuit is by integrated chip U7, capacitor C 1-C4, resistance R 8-R9 and ultrasonic wave are accepted transducer R composition, U7 selects IC chip CX20106A for use, the P3.3 port of single-chip microcomputer U1 sent into the ultrasound information of accepting by the ultrasonic wave receiving circuit, robot advances in the process, the 40kHz square-wave signal of the P3.2 port output of single-chip microcomputer U1 is sent into ultrasonic transmit circuit, constantly send the ultrasonic wave that frequency is 40KHZ by radiating circuit, if robot the place ahead clear, ultrasonic wave receiving transducer R does not receive signal, robot goes ahead, if there is barrier in robot the place ahead, ultrasonic wave receiving transducer R receives the signal that ultrasonic reflections that ultrasonic wave transmitting probe T sends is returned, after handling, the ultrasonic wave receiving circuit sends into instruction to single-chip microcomputer U1, machine operation is sent instruction and is allowed motor M1-M4 or counter-rotating as calculated, or stop, robot cut-through thing is walked on or stop motion.
4. robot velocity-measuring system
The robot tachometer circuit is made up of Hall element HR1 and HR2, the Hall element model selects 0620, the speed of Hall element HR1 measuring car wheel 1, the speed of Hall element HR2 measuring car wheel 3, permanent magnet on being installed in motor 1 and motor 2 just produces a pulse when the Hall, signal is passed among the single-chip microcomputer U1 by the T0 oral instructions, the umber of pulse that single-chip microcomputer is noted down in a second by T0 counting external pulse, thereby calculate the rotating speed of dolly both sides wheel, single-chip microcomputer U1 sends command signal according to the needs of body movement control to the carriage walking drive system, adjusts the speed of robot ambulation, and turn to.
5. cleaning arm lifting drive system
By direct-flow deceleration electric motor MG5 and dc motor drive chip U4 and around element form cleaning arm lifting drive circuit, direct-flow deceleration electric motor is selected ZYM-25A280, dc motor drives chip and selects L298, when single-chip microcomputer U1 requires to dc motor driving chip U4 transmission signal motor M G5 motor just to be changeed simultaneously according to driving chip L298 work-based logic, cleaning arm is upwards lifted; When single-chip microcomputer U1 requires to dc motor driving chip U4 transmission signal motor M G5 motor to be reversed simultaneously according to driving chip L298 work-based logic, cleaning arm is landed downwards.
6. the spacing detection system of cleaning arm lifting
Constitute cleaning arm lifting limiting detection circuit by limit switch S1, S2.Whether limit switch S1, S2 detect respectively whether nut moves on to the high order end or the low order end of leading screw in the lead screw pair, be raised to the highest or drop to minimum position thereby detect cleaning arm.When cleaning arm is raised to the extreme higher position, limit switch S1 sends into detection signal among the single-chip microcomputer U1 through P3.6, and single-chip microcomputer U1 drives drive circuit to the cleaning arm lifting and sends instruction and make the lifting motor stop motion, makes cleaning arm stop to continue upwards to lift.When cleaning arm drops to high and low position, limit switch S2 sends into detection signal among the single-chip microcomputer U1 through P3.7, and single-chip microcomputer U1 drives drive circuit to the cleaning arm lifting and sends instruction and make the lifting motor stop motion, makes cleaning arm stop to continue downward landing.
7. liquid crystal display systems
By Liquid Crystal Module U5 and around element form, LCD MODULE is selected LCD1601, and LCD160 has 16 pins, wherein VSS ground connection, VDD connects+and 5V powers to liquid crystal, V0 is ground connection directly, if connect behind the slide rheostat ground connection, can regulate font brightness, RS, RW, E are three control lines, D0～D7 is 8 data lines, and single-chip microcomputer U1 is passing through 11 alignment Liquid Crystal Module U5 and sending data, shows corresponding prompt information.
8. serial interface circuit
Electric capacity by RS232 serial communication interface chip U5 and 5 1UF is formed, single-chip microcomputer U1 is connected with PC through serial interface circuit U5, PC sends control instruction to single-chip microcomputer U1, single-chip microcomputer sends feedback information in the robot course of work to PC, further controls the duty of robot according to the information of returning for PC.
Claims (3)
1. central air-conditioning ventilation shaft cleaning robot, it is characterized in that, comprise car body and cleaning arm, wherein, cleaning arm is connected to form by bolt by small rod and big connecting rod, and the lower end of cleaning arm is connected with the support of the back of car body, its upper end is provided with the cleaning brush drive motors, below the chassis of described car body under casing is installed, the car body both sides have two wheels respectively, respectively by four motor-driven.
2. according to the described central air-conditioning ventilation shaft of claim 1 cleaning robot, it is characterized in that, also comprise the cleaning arm elevating mechanism, the cleaning arm elevating mechanism is made up of elevating motor, lead screw pair, guide rail and support arm, support arm one end is connected with cleaning arm, the other end is connected with the nut of lead screw pair, and leading screw one end in the lead screw pair is connected with the output shaft of elevating motor.
3. according to the described central air-conditioning ventilation shaft of claim 1 cleaning robot, it is characterized in that described Vehicular body front is provided with camera and ultrasonic probe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910223460XA CN102059235A (en) | 2009-11-17 | 2009-11-17 | Robot for cleaning central air-conditioning ventilating ducts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910223460XA CN102059235A (en) | 2009-11-17 | 2009-11-17 | Robot for cleaning central air-conditioning ventilating ducts |
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| Publication Number | Publication Date |
|---|---|
| CN102059235A true CN102059235A (en) | 2011-05-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910223460XA Pending CN102059235A (en) | 2009-11-17 | 2009-11-17 | Robot for cleaning central air-conditioning ventilating ducts |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103252768A (en) * | 2013-06-09 | 2013-08-21 | 姬志刚 | Robot capable of fetching and placing article in narrow pipeline |
| CN103316874A (en) * | 2013-05-29 | 2013-09-25 | 胡雄华 | Three-in-one dust collection robot |
| CN103785657A (en) * | 2014-01-27 | 2014-05-14 | 张洪丽 | Central air-conditioning pipe cleaning robot |
| CN106964613A (en) * | 2017-03-27 | 2017-07-21 | 合肥科的星测控科技有限公司 | A kind of central air-conditioning pipe clean robot |
| CN106984609A (en) * | 2017-04-11 | 2017-07-28 | 合肥科的星测控科技有限公司 | A kind of city fume pipeline endless track type cleaning robot |
| CN107511374A (en) * | 2017-07-31 | 2017-12-26 | 中国十七冶集团有限公司 | A kind of smoke controlling pipeline cleaning robot |
| CN107600199A (en) * | 2017-10-18 | 2018-01-19 | 西安科技大学 | A kind of wheel-track combined drilling rescue and detection robot of leg |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103316874A (en) * | 2013-05-29 | 2013-09-25 | 胡雄华 | Three-in-one dust collection robot |
| CN103316874B (en) * | 2013-05-29 | 2016-08-17 | 胡雄华 | Three-in-one pipeline dust-collecting robot |
| CN103252768A (en) * | 2013-06-09 | 2013-08-21 | 姬志刚 | Robot capable of fetching and placing article in narrow pipeline |
| CN103785657A (en) * | 2014-01-27 | 2014-05-14 | 张洪丽 | Central air-conditioning pipe cleaning robot |
| CN106964613A (en) * | 2017-03-27 | 2017-07-21 | 合肥科的星测控科技有限公司 | A kind of central air-conditioning pipe clean robot |
| CN106984609A (en) * | 2017-04-11 | 2017-07-28 | 合肥科的星测控科技有限公司 | A kind of city fume pipeline endless track type cleaning robot |
| CN107511374A (en) * | 2017-07-31 | 2017-12-26 | 中国十七冶集团有限公司 | A kind of smoke controlling pipeline cleaning robot |
| CN107600199A (en) * | 2017-10-18 | 2018-01-19 | 西安科技大学 | A kind of wheel-track combined drilling rescue and detection robot of leg |
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Application publication date: 20110518 |