CN102085523A - Pipeline detection cleaning robot - Google Patents
Pipeline detection cleaning robot Download PDFInfo
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- CN102085523A CN102085523A CN2009102500627A CN200910250062A CN102085523A CN 102085523 A CN102085523 A CN 102085523A CN 2009102500627 A CN2009102500627 A CN 2009102500627A CN 200910250062 A CN200910250062 A CN 200910250062A CN 102085523 A CN102085523 A CN 102085523A
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Abstract
The invention provides a pipeline detection cleaning robot, relating to a pipeline cleaning tool. The pipeline detection cleaning robot comprises a robot body supporting mechanism, a cleaning part and a monitoring part, wherein a flue is cleaned more simply and conveniently, and the cleaned flue cannot remain any dead angle, thus all catering operators are not trouble about the fire hazard caused by untimely cleaning the flue. The pipeline detection cleaning robot can not only be used for cleaning a horizontal pipeline but also can be used for efficiently cleaning a vertical pipeline, has a telescopic and folding function, can adapt to pipelines with different pipeline diameters of 350-1300, can adapt to circular pipelines, and has small volume after being folded so as to be convenient for carrying and transporting; and the conveniently designed automatic cleaning equipment achieves the object of effectively replacing manual works.
Description
Technical field:
The present invention relates to a kind of pipeline cleaning means, especially relate to a kind of pipe detection cleaning robot that computer control is cleaned that passes through of wired remote control.
Background technology:
Flue is the infrastructure in hotel, restaurant, kitchen, restaurant, very easily shelters evil people and countenance evil practices, and is the dead angle of cleaning.Flue is the key area of fire-fighting, health, the inspection of epidemic prevention department simultaneously.Simultaneously, the easy parasitic mouse of petticoat pipe inwall, cockroach do not meet state health standards.Greasy jelly is taken off for a long time and is attached to the metal surface, also can the corroding metal material, shorten flue service life.Fume pipeline has a lot of oil stains to remain in for a long time on the cigarette machine He on the flue surface to form grease, will influence the use of lampblack absorber, flue like this, makes plume be difficult for getting rid of.Kitchen exhaust does not freely have the reason about 80%, all is that greasy dirt stops up screen pack and causes owing to long-time the built-in screen pack of cooking fume remover is not cleaned.Flue, petticoat pipe are in high-temperature work environment throughout the year, and oil smoke gasification forms long-pending oil, carbon deposit or greasy jelly, if untimely flue and petticoat pipe are cleaned, are very easy to cause fire.
Now, the successful utilization of the central air-conditioning air channel cleaning robot that continues, the flue robot of bright clean more recent application has thoroughly solved fume pipeline again and has cleaned this difficult problem.The flue cleaning robot that uses control system to control passes through self-contained camera, the clear pollution condition of grasping in the flue; The video acquisition function can supply the clear whole cleaning process of shooting with video-corder of watching of client; The hot high pressure hydraulic giant that robot carries cleans thoroughly, does not stay any dead angle, and bright clean advanced person, the cleaning robot of oil-smoke expulsion pipe detection efficiently thoroughly solve the pollution and the potential safety hazard of catering industry
Summary of the invention:
The purpose of this invention is to provide a kind of pipe detection cleaning robot, it is the special special cleaning machine device people who cleans at the fume pipeline of hotel, hotel, school, enterprises and institutions etc.It is simple to operate, cleaning efficiency is high, clean video can once finish, it will solve thoroughly that ubiquity cleaning speed in the existing cleaning way is slow, clean thoroughly in the flue, hand labor intensity is big, can't understand the problem that flue cleaning performance etc. exists after cleaning, and no longer stay any dead angle in the flue after the cleaning.
In order to solve the existing problem of background technology, the present invention is by the following technical solutions: it comprises body supporting mechanism, cleaning part, monitor portion; Body supporting mechanism is made of support bar, support wheel and jockey, is the main bearing part that described oil-smoke expulsion pipe detects cleaning robot; Cleaning part, by rotating mechanism, the parallel four-bar telescoping mechanism, sensor and detection cleaning device constitute; Monitor portion, by camera, camera telescopic folding mechanism constitutes; Monitor portion adopts the mechanism of telescopic folding, adjusts the observed range of camera, guarantees can monitor cleaning in the pipeline of different tube diameters.
The present invention adopts telescoping mechanism to support oil-smoke expulsion pipe and detects cleaning robot; Adopt the flexible distance that detects cleaning device maintenance and pipeline wall that makes of parallelogram lindage; Adopt the distance of sensor detection cleaning device and pipeline wall and feed back to control system, detect the distance of cleaning device and pipeline wall by control system control.
The present invention has following beneficial effect: allow flue clean become simple and convenient, no longer stay any dead angle in the flue after the cleaning, allow all restaurant management persons that fume pipeline is cleaned the untimely disaster hidden-trouble that causes and no longer bother; Not only can clean horizontal pipe, more can clean vertical pipeline efficiently, robot has flexible and folder function, can adapt to the pipeline of 350-1300 different tube diameters, and can adapt to circular pipe, and the robot volume after folding is little, and is easy to carry and transport; Design automation cleaning equipment easily, reach the target that effectively substitutes manpower work.
Description of drawings:
Fig. 1-1 is the structural representation of pipe detection cleaning robot of the present invention duty in square pipe;
Fig. 1-2 is the structural representation of pipe detection cleaning robot of the present invention duty in circular pipe;
Status architecture schematic diagram when Fig. 2-1 stretches for pipe detection cleaning robot of the present invention;
Status architecture schematic diagram when Fig. 2-2 shrinks for pipe detection cleaning robot of the present invention;
Fig. 3 is the overall structure schematic diagram of pipe detection cleaning robot of the present invention;
Fig. 4 is the structural representation of the monitoring system of pipe detection cleaning robot of the present invention;
Fig. 5 is the fixing structural representation of the cable of pipe detection cleaning robot of the present invention;
Fig. 6 is the flexible structural representation that supports of pipe detection cleaning robot human organism of the present invention;
The structural representation that Fig. 7 cleans for pipe detection cleaning robot rotary extension of the present invention.
The specific embodiment:
This specific embodiment is by the following technical solutions: it comprises body supporting mechanism, cleaning part, monitor portion; Body supporting mechanism is made of support bar, support wheel and jockey, is the main bearing part that described oil-smoke expulsion pipe detects cleaning robot; Cleaning part, by rotating mechanism, the parallel four-bar telescoping mechanism, sensor and detection cleaning device constitute; Monitor portion, by camera, camera telescopic folding mechanism constitutes; Monitor portion adopts the mechanism of telescopic folding, adjusts the observed range of camera, guarantees can monitor cleaning in the pipeline of different tube diameters.
This specific embodiment adopts telescoping mechanism to support oil-smoke expulsion pipe and detects cleaning robot; Adopt the flexible distance that detects cleaning device maintenance and pipeline wall that makes of parallelogram lindage; Adopt the distance of sensor detection cleaning device and pipeline wall and feed back to control system, detect the distance of cleaning device and pipeline wall by control system control.
This specific embodiment allows flue clean become simple and convenient, no longer stays any dead angle in the flue after the cleaning, allows all restaurant management persons that fume pipeline is cleaned the untimely disaster hidden-trouble that causes and no longer bothers; Not only can clean horizontal pipe, more can clean vertical pipeline efficiently, robot has flexible and folder function, can adapt to the pipeline of 350-1300 different tube diameters, and can adapt to circular pipe, and the robot volume after folding is little, and is easy to carry and transport; Design automation cleaning equipment easily, reach the target that effectively substitutes manpower work.
Referring to Fig. 3, the overall structure schematic diagram of pipe detection cleaning robot of the present invention comprises body supporting mechanism, wiper mechanism, monitoring system and control system; Body supporting mechanism is by the first telescoping mechanism 3-48, the second telescoping mechanism 3-49, support wheel 3-13, support wheel carrier 3-16 and the 3-15 of relevant connection mechanism and constitute, when body stretched, the first telescoping mechanism 3-48, second telescoping mechanism 3-49 elongation made support wheel 3-13 support tube wall; Purging system is by the parallel four-bar telescoping mechanism, linear electric motors, and rotating mechanism, detecting sensor is cleaned shower nozzle and water pipe system and is constituted; Monitoring system is controlled illuminator by camera, expansion link, and fold mechanism and camera bracing frame constitute; Control system is by the control cable, and control cabinet is controlled software and hardware system.
Referring to Fig. 4,4-5 wide-angle imaging head is connected with expansion link 4-8 by camera fixed mount 4-3 and connecting axle 4-7,4-9 and 4-53 are the locking screw rotation set, bar in the expansion link and outer lever lock is tight, and when the locking screw rotation set was threaded to releasing orientation, bar 4-8 can slide mutually with outer bar 4-54 in the expansion link, can realize stretching, after determining flexible state, 4-53 screws with the locking screw rotation set, can fix inside and outside bar; Expansion link 4-8 is hinged by bearing pin and fixed station 4-55, locking nut 4-50 is used for locking expansion link and fixed station, when unscrewing locking nut, expansion link and fixed station are hinged, can rotate around bearing pin and realize folding, screw locking nut 4-89 behind the stationary state, expansion link is fixedlyed connected with fixed station, realizes the fixing of expansion link.
Referring to Fig. 5,5-24 is an aviation plug, and 5-26 is the aviation cable, and robot pulls the aviation cable in motion process, for preventing to get loose in the running situation with loose contact, adopts fastening mechanism that cable and body are fixed.Being fixed on dihedral as figure aviation plug 5-24 connects on the 5-23, last fastening piece 5-25 and fixed block 5-50 are hinged by bearing pin, draw button 5-27 to fixedly connected with fixed block 5-50, clasp is fixedlyed connected with last fastening piece 5-25, and dihedral connects 5-23 and fixed block 5-50 is fixed on the body.
Referring to Fig. 6, support wheel 6-17 is connected with wheel shaft 6-13 by bearing, can rotate around wheel shaft 6-13, and wheel shaft is connected with support rail 6-16, and support rail is fixedlyed connected with bar before the expansion link 6-52.
Referring to Fig. 7, telescoping mechanism is a parallelogram lindage, the first bar 7-60, the second bar 7-22, the 3rd bar 7-61, the 4th bar 7-63 is by the first bearing pin 7-58, the second bearing pin 7-59, the 3rd bearing pin 7-62 and the hinged formation parallelogram lindage of the 4th bearing pin 7-91, the stiff end 7-35 of the 3rd bar 7-61 and linear electric motors is hinged, the flexible end fixed block 7-28 of the first bar bar 7-60 and linear electric motors is hinged, when linear electric motors 7-34 operation, during expansion link 7-29 elongation, drive the first bar bar 7-60 and the 3rd bar 7-61 relatively rotates, make angle theta become big, the distance of the first bearing pin 7-58 and the 4th bearing pin 7-91 diminishes, and promptly telescoping mechanism shrinks.And when linear electric motors 7-34 operation was shunk expansion link 7-29, angle theta diminished, and the distance of the second bearing pin 7-59 and the 4th bearing pin 7-91 becomes big, and telescoping mechanism stretches; Parallel four-bar telescoping mechanism linear electric motors 7-34 is connected with rotating mechanism by fixed block 7-35; 7-69 is an electric rotating machine, output shaft.
In cleaning process, under the certain situation of the hydraulic pressure P of giant, clean apart from excessive or too small cleaning performance or the cleaning efficiency of all influencing of a.And giant pressure is big more, cleans greatly more apart from a, could guarantee the highest cleaning efficiency and cleaning performance.Therefore remain apart from a with detecting the cleaning point in detecting cleaning process, to reach the highest cleaning efficiency and cleaning performance, oil-smoke expulsion pipe detects cleaning robot detects cleaning head in detecting cleaning process running orbit schematic diagram as shown in the figure.Pipe detection cleaning robot people detection wiper mechanism is a rotatory and extending device, and sensor feeds back the distance that detects cleaning device and pipeline wall in real time, to guarantee that robot detects cleaning head and can detect and washing and cleaning operation in running.
Claims (7)
1. the pipe detection cleaning robot is characterized in that it comprises body supporting mechanism, cleaning part, monitor portion; Body supporting mechanism is made of support bar, support wheel and jockey, is the main bearing part that described oil-smoke expulsion pipe detects cleaning robot; Cleaning part, by rotating mechanism, the parallel four-bar telescoping mechanism, sensor and detection cleaning device constitute; Monitor portion, by camera, camera telescopic folding mechanism constitutes; Monitor portion adopts the mechanism of telescopic folding, adjusts the observed range of camera, guarantees can monitor cleaning in the pipeline of different tube diameters.
2. pipe detection cleaning robot according to claim 1 is characterized in that its employing telescoping mechanism supports oil-smoke expulsion pipe and detects cleaning robot; Adopt the flexible distance that detects cleaning device maintenance and pipeline wall that makes of parallelogram lindage; Adopt the distance of sensor detection cleaning device and pipeline wall and feed back to control system, detect the distance of cleaning device and pipeline wall by control system control.
3. pipe detection cleaning robot according to claim 1, it is characterized in that body supporting mechanism is by first telescoping mechanism (3-48), second telescoping mechanism (3-49), support wheel (3-13), supporting wheel carrier (3-16) and relevant connection mechanism (3-15) constitutes, when body stretched, first telescoping mechanism (3-48), second telescoping mechanism (3-49) elongation made support wheel (3-13) support tube wall; Purging system is by the parallel four-bar telescoping mechanism, linear electric motors, and rotating mechanism, detecting sensor is cleaned shower nozzle and water pipe system and is constituted; Monitoring system is controlled illuminator by camera, expansion link, and fold mechanism and camera bracing frame constitute; Control system is by the control cable, and control cabinet is controlled software and hardware system.
4. pipe detection cleaning robot according to claim 1, it is characterized in that (4-5) wide-angle imaging head is connected with expansion link (4-8) by camera fixed mount (4-3) and connecting axle (4-7), be the locking screw rotation set (4-9) and (4-53), bar in the expansion link and outer lever lock is tight, when the locking screw rotation set is threaded to releasing orientation, bar (4-8) can slide mutually with outer bar (4-54) in the expansion link, can realize stretching, after determining flexible state, (4-53) screws with the locking screw rotation set, can fix inside and outside bar; Expansion link (4-8) is hinged by bearing pin and fixed station (4-55), locking nut (4-50) is used for locking expansion link and fixed station, when unscrewing locking nut, expansion link and fixed station are hinged, can rotate around bearing pin and realize folding, screw locking nut (4-89) behind the stationary state, expansion link is fixedlyed connected with fixed station, realizes the fixing of expansion link.
5. pipe detection cleaning robot according to claim 1, it is characterized in that (5-24) is aviation plug, (5-26) be the aviation cable, robot pulls the aviation cable in motion process, for preventing to get loose in the running situation with loose contact, adopt fastening mechanism that cable and body are fixed; Being fixed on dihedral as figure aviation plug (5-24) connects on (5-23), last fastening piece (5-25) and fixed block (5-50) are hinged by bearing pin, draw button (5-27) to fixedly connected with fixed block (5-50), clasp is fixedlyed connected with last fastening piece (5-25), and dihedral connects (5-23) and fixed block (5-50) is fixed on the body.
6. pipe detection cleaning robot according to claim 1, it is characterized in that support wheel (6-17) is connected with wheel shaft (6-13) by bearing, can rotate around wheel shaft (6-13), wheel shaft is connected with support rail (6-16), and support rail is fixedlyed connected with the preceding bar of expansion link (6-52).
7. pipe detection cleaning robot according to claim 1, it is characterized in that telescoping mechanism is a parallelogram lindage, first bar (7-60), second bar (7-22), the 3rd bar (7-61), the 4th bar (7-63) is by first bearing pin (7-58), second bearing pin (7-59), the 3rd bearing pin (7-62) and the hinged formation parallelogram lindage of the 4th bearing pin (7-91), the 3rd bar (7-61) is hinged with the stiff end (7-35) of linear electric motors, the first bar bar (7-60) is hinged with the flexible end fixed block (7-28) of linear electric motors, when linear electric motors (7-34) operation, during expansion link (7-29) elongation, driving the first bar bar (7-60) and the 3rd bar (7-61) relatively rotates, make angle theta become big, the distance of first bearing pin (7-58) and the 4th bearing pin (7-91) diminishes, and promptly telescoping mechanism shrinks; And when linear electric motors (7-34) operation was shunk expansion link (7-29), angle theta diminished, and the distance of second bearing pin (7-59) and the 4th bearing pin (7-91) becomes big, and telescoping mechanism stretches; Parallel four-bar telescoping mechanism linear electric motors (7-34) are connected with rotating mechanism by fixed block (7-35); (7-69) be electric rotating machine, output shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102500627A CN102085523A (en) | 2009-12-03 | 2009-12-03 | Pipeline detection cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102500627A CN102085523A (en) | 2009-12-03 | 2009-12-03 | Pipeline detection cleaning robot |
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| CN102085523A true CN102085523A (en) | 2011-06-08 |
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| CN2009102500627A Pending CN102085523A (en) | 2009-12-03 | 2009-12-03 | Pipeline detection cleaning robot |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102671898A (en) * | 2012-06-07 | 2012-09-19 | 上海电力学院 | Inner-diameter-variable cleaning device of pipeline cleaning robot |
| CN102707720A (en) * | 2012-05-19 | 2012-10-03 | 山东科技大学 | Control system and working method of robot walking outside pipes |
| CN103963054A (en) * | 2014-05-07 | 2014-08-06 | 河南工业大学 | Silo cleaning robot |
| CN104056826A (en) * | 2014-06-15 | 2014-09-24 | 无锡商业职业技术学院 | Automatic cleaning device for inner wall of large-diameter steel pipe |
| CN105344672A (en) * | 2015-11-10 | 2016-02-24 | 河南工业大学 | Pipeline inspection sweeping robot |
| CN106090957A (en) * | 2016-07-08 | 2016-11-09 | 西安建筑科技大学 | A kind of towed chimney cleaning plant and method for cleaning |
| CN108679454A (en) * | 2018-05-09 | 2018-10-19 | 中国矿业大学(北京) | A kind of urban Underground pipeline radar detector |
| CN109985864A (en) * | 2017-12-29 | 2019-07-09 | 中国核动力研究设计院 | A kind of two degrees of freedom extended position pipeline cleaning robot support arm |
| CN110453630A (en) * | 2019-09-06 | 2019-11-15 | 中铁二院工程集团有限责任公司 | Rail mounted automatic flushing device for deep layer tunnel |
| CN112565561A (en) * | 2020-11-06 | 2021-03-26 | 南京腾芙件贸易有限公司 | A deposition clearing device before camera lens for security protection video recording camera |
| CN112718724A (en) * | 2020-12-18 | 2021-04-30 | 无锡佳谊林电气有限公司 | Power pipeline dredging robot |
| CN113333406A (en) * | 2021-06-03 | 2021-09-03 | 胡远彬 | Automatic cleaning equipment for oil smoke pipeline |
| CN113546929A (en) * | 2021-08-28 | 2021-10-26 | 昆明理工大学 | Filling pipe inner wall cleaning device |
| JP7240778B1 (en) * | 2022-09-27 | 2023-03-16 | 株式会社アガタ | Closed space monitoring device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102707720A (en) * | 2012-05-19 | 2012-10-03 | 山东科技大学 | Control system and working method of robot walking outside pipes |
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| CN106090957A (en) * | 2016-07-08 | 2016-11-09 | 西安建筑科技大学 | A kind of towed chimney cleaning plant and method for cleaning |
| CN109985864A (en) * | 2017-12-29 | 2019-07-09 | 中国核动力研究设计院 | A kind of two degrees of freedom extended position pipeline cleaning robot support arm |
| CN109985864B (en) * | 2017-12-29 | 2021-10-19 | 中国核动力研究设计院 | Two-degree-of-freedom stretching type pipeline cleaning robot supporting arm |
| CN108679454A (en) * | 2018-05-09 | 2018-10-19 | 中国矿业大学(北京) | A kind of urban Underground pipeline radar detector |
| CN110453630A (en) * | 2019-09-06 | 2019-11-15 | 中铁二院工程集团有限责任公司 | Rail mounted automatic flushing device for deep layer tunnel |
| CN110453630B (en) * | 2019-09-06 | 2024-02-23 | 中铁二院工程集团有限责任公司 | Rail type automatic flushing device for deep tunnel |
| CN112565561A (en) * | 2020-11-06 | 2021-03-26 | 南京腾芙件贸易有限公司 | A deposition clearing device before camera lens for security protection video recording camera |
| CN112718724A (en) * | 2020-12-18 | 2021-04-30 | 无锡佳谊林电气有限公司 | Power pipeline dredging robot |
| CN112718724B (en) * | 2020-12-18 | 2022-09-06 | 无锡佳谊林电气有限公司 | Power pipeline dredging robot |
| CN113333406A (en) * | 2021-06-03 | 2021-09-03 | 胡远彬 | Automatic cleaning equipment for oil smoke pipeline |
| CN113333406B (en) * | 2021-06-03 | 2022-07-22 | 安徽冠厨厨房设备有限公司 | Automatic cleaning equipment for oil smoke pipeline |
| CN113546929A (en) * | 2021-08-28 | 2021-10-26 | 昆明理工大学 | Filling pipe inner wall cleaning device |
| JP7240778B1 (en) * | 2022-09-27 | 2023-03-16 | 株式会社アガタ | Closed space monitoring device |
| WO2024070876A1 (en) * | 2022-09-27 | 2024-04-04 | 株式会社アガタ | Closed-space monitoring device |
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