CN106362994A - Robot for cleaning inner wall of pipe - Google Patents
Robot for cleaning inner wall of pipe Download PDFInfo
- Publication number
- CN106362994A CN106362994A CN201611018550.1A CN201611018550A CN106362994A CN 106362994 A CN106362994 A CN 106362994A CN 201611018550 A CN201611018550 A CN 201611018550A CN 106362994 A CN106362994 A CN 106362994A
- Authority
- CN
- China
- Prior art keywords
- walls
- motor
- duct
- fixed disk
- fixing device
- 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
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
-
- 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
- B08B2209/00—Details of machines or methods for cleaning hollow articles
- B08B2209/02—Details of apparatuses or methods for cleaning pipes or tubes
- B08B2209/027—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces
- B08B2209/04—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces using cleaning devices introduced into and moved along the pipes
- B08B2209/053—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces using cleaning devices introduced into and moved along the pipes being moved along the pipes by a fluid, e.g. by fluid pressure or by suction
- B08B2209/055—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces using cleaning devices introduced into and moved along the pipes being moved along the pipes by a fluid, e.g. by fluid pressure or by suction the cleaning devices conforming to, or being conformable to, substantially the same cross-section of the pipes, e.g. pigs or moles
Abstract
The invention discloses a robot for cleaning the inner wall of a pipe. A motor and guide shafts are mounted on a lower mounting plate. The lower end of each guide shaft is fixed to the lower mounting plate. A nut is in threaded connection to a screw rod and provided with three or more radially-extending-and contracting assemblies in the circumferential direction. Among the radially-extending-and contracting assemblies, the upper side and the lower side of each large linear motor are each provided with a small linear motor in a symmetrical manner; a piston rod of each large linear motor is fixed to the center of a rubber block, and a piston rod of each small linear motor is fixed to a radially-moving block; the upper side and the lower side of each roll brush are each provided with a sealing and fixing device in a symmetrical manner, and a set of liquid passing holes are uniformly formed in the rim of a fixing disc in each sealing and fixing device in the circumferential direction; the upper end of the screw rod is matched with the fixing disc of the lower sealing and fixing device in a rotary manner, and the upper ends of the guide shafts are fixed to the corresponding fixing disc; and a roll brush motor is mounted on the fixing disc of the upper sealing and fixing device. By means of the robot for cleaning the inner wall of the pipe, contaminants on the inner wall of the pipe can be removed thoroughly and efficiently.
Description
Technical field
The invention belongs to pipeline cleaning field, more particularly, to a kind of inner-walls of duct clean robot.
Background technology
In in material or chemical industry, reaction medium conveying pipeline inner wall cleannes are determine product purity important one
Ring, so usually need to carry out the cleaning of specialty using abluent.At present, manual cleaning is modal clean method, in day
Commonly use in often working.However, for some as right angle settings, length is long, internal diameter is excessive or too small pipeline, manually clearly
Clean often have that cleannes are low, inefficient, pollutant component and abluent complicated component even poisonous, inflammable etc., thus deposit
In larger security risk, and the defect such as high cost of labor.
Content of the invention
The technical problem to be solved is to provide a kind of inner-walls of duct clean robot, is intended to by this cleaner
Device people cleans the inwall of pipeline.
Technical scheme is as follows: a kind of inner-walls of duct clean robot it is characterised in that: include lower installation board
(1) and round brush (11), a motor (2) and one group of axis of guide (3), the output of this motor are wherein provided with lower installation board (1)
Axle upper end is coaxially connected with screw mandrel (4) lower end；The described axis of guide (3) lower end and lower installation board (1) fixation, this axis of guide and screw mandrel
(4) parallel, and a nut (5) is threaded with screw mandrel (4)；
Circumferentially arranged with least 3 radial expansion assemblies on described nut (5), this radial expansion assembly includes big straight-line electric
Machine (6) and connecting rod (10), the upper and lower side of wherein big linear electric motors (6) is arranged with a little linear electric motors (7), and these three are straight
Line motor is mounted on described nut (5), and is provided with the block rubber (8) of a tiles outside three linear electric motors；Described big
The piston rod of linear electric motors (6) is fixed with block rubber (8) center, the piston rod of each little linear electric motors (7) with move radially
Block (9) is fixing, and the both sides that this moves radially block pass through the respective side hinge of connecting rod (10) described in a group and described block rubber (8) respectively
Connect；When large and small linear electric motors (6,7) synchronization action, block rubber (8) is driven to radially move, so that block rubber (8) outer wall
Contact with inner-walls of duct；When described large and small linear electric motors (6,7) asynchronous behavior, thus it is possible to vary the bending of block rubber (8) half
Footpath, so that the whole periphery of block rubber (8) forms face with inner-walls of duct contact；
Described round brush (11) is coaxially located above screw mandrel (4), and this round brush is solidly set on the output shaft of round brush motor (12)；Institute
State the upper and lower side of round brush (11) and be arranged with a sealed fixing device, this sealed fixing device includes fixed disk (13) and sealing
, near described round brush (11), fixed disk (13) edge has been evenly distributed one group of inlet opening for circle (18), wherein fixed disk (13)
(13a) with liquid outlet (13b), and inlet opening (13a) and liquid outlet (13b) are arranged alternately；Described fixed disk (13) is interior with rotation
Gear ring (14) is fitted, and this rotation ring gear has been evenly distributed one group and has crossed liquid away from round brush (11), rotation ring gear (14) edge
Hole (14a)；Described rotation ring gear (14) is often engaged with gear (15), and this gear is solidly set on the output shaft of rotary electric machine (16)
On, and rotary electric machine (16) is arranged on described fixed disk (13), when rotating ring gear (14) and rotating, can drive liquid pass hole
(14a) connected with described inlet opening (13a) or liquid outlet (13b) in the way of alternative, or liquid pass hole (14a) all not with enter
Fluid apertures (13a) connects with liquid outlet (13b)；
At least 3 radial alignment motors (51), these radial alignment motors are circumferentially fixed with described fixed disk (13)
Outside is provided with the rubber deformation part (17) of an annular, and the cross section of this rubber deformation part is " n " font, and by middle ring
The undulations (17b) of shape portion (17a) and both sides are constituted；The piston rod of described radial alignment motor (51) and ring part (17a)
Inwall is fixed, and the wall coaxial of this ring part is installed with a described sealing ring (18)；The outward flange of described fixed disk (13)
Fix with undulations (17b) inward flange of respective side, the side of described ring gear (14) and this undulations (17b)
Contacts side surfaces, and the outward flange of this ring gear is rotatably assorted with the inwall of ring part (17a)；When all of described radial alignment electricity
During machine (51) synchronization action, sealing ring (18) diameter being changed, to make sealed fixing device be close to inner-walls of duct, and realizing
Sealing；
Described screw mandrel (4) upper end is rotatably assorted with the fixed disk (13) of a following sealed fixing device, and described guiding
Axle (3) upper end and this fixed disk are fixed；Described round brush motor (12) is mounted above the fixed disk of a sealed fixing device
(13), on, the output shaft lower end of this round brush motor is connected to one with the fixed disk (13) of a following described sealed fixing device
Rise it is possible to relatively rotate.
In technique scheme, during large and small linear electric motors (6,7) synchronization action, drive block rubber (8) to do and radially move
Dynamic, thus adjusting radius, during the output shaft synchronous elongation of large and small linear electric motors (6,7), block rubber (8) outer wall and pipe just can be made
Road contact internal walls；Because the inner-walls of duct radian of different bores is variant, so described large and small linear electric motors (6,7) are asynchronous dynamic
When making, thus it is possible to vary the bending radius of block rubber (8), so that the whole periphery of block rubber (8) and inner-walls of duct form face connecing
Touch, concrete principle is: when the output shaft elongation of little linear electric motors (7) exceedes the output shaft of big linear electric motors (6), moves radially
Block (9) is displaced outwardly, and the bending radius of block rubber (8) becomes big；When the output shaft elongation of little linear electric motors (7) is not less than straight greatly
During the output shaft of line motor (6), move radially block (9) and move inward, the bending radius of block rubber (8) diminishes.Using above-mentioned knot
Structure designs, and all of radial expansion assembly just can be made to contact with inner-walls of duct, thus the present invention is fixed in the way of departing from
On inner-walls of duct.
Meanwhile, when all of described radial alignment motor (51) synchronization action, sealing ring (18) diameter can be changed, so that
Sealed fixing device is made to be close to inner-walls of duct, thus fixing the present invention with by way of departing from by two sealed fixing devices
On inner-walls of duct.During use, two sealed fixing devices and all of radial expansion assembly alternation, just can make machine
People moves up and down along inner-walls of duct, and concrete operating principle is: when all of radial expansion assembly is fixing with inner-walls of duct, two
Individual sealed fixing device is departed from inner-walls of duct, now starts motor (2) and drives nut (5) above to move, and then drives two sealings
Move in fixing device；After moving a segment distance on two sealed fixing devices, fix with inner-walls of duct, control all of radial expansion
Assembly is departed from inner-walls of duct, restarts motor (2) and drives the upper shifting of nut (5), and then drives on all of radial expansion assembly
Move, after moving a segment distance on all of radial expansion assembly, all of radial expansion assembly is fixed with inner-walls of duct, then controls
Motor (2) processed drives nut (5) and two sealed fixing devices to move on the whole, and so on, just can make robot along pipe
Road inwall moves up, and the operation principle moving down with move up identical.
And, when sealing ring (18) periphery is contacted with inner-walls of duct, can realize well sealing；And fixed disk (13) with
Rotate ring gear (14) laminating, when rotation ring gear (14) rotates under the drive of gear, liquid pass hole (14a) can be made with alternative
Mode connect with described inlet opening (13a) or liquid outlet (13b), or liquid pass hole (14a) all not with inlet opening (13a) and going out
Fluid apertures (13b) connects.When liquid pass hole (14a) is connected with described inlet opening (13a) or liquid outlet (13b) in the way of alternative
When, can input/discharge cleaning solution；When liquid pass hole (14a) is not all connected with inlet opening (13a) and liquid outlet (13b) it is impossible to
Input/discharge cleaning solution.After inputting cleaning solution to the chamber between two sealed fixing devices, two sealings are controlled to fix dress
The rotation ring gear (14) put rotates, so that two sealed fixing devices all can not input/discharge cleaning solution, thus can be
Form an airtight chamber, now round brush rotates under the drive of round brush motor between two sealed fixing devices, thus cleaning pipe
Road inwall.After completing cleaning, so that liquid pass hole (14a) is connected with liquid outlet (13b), just the useless cleaning solution after cleaning can be discharged.
It should be strongly noted that being equipped with liquid pass hole (14a) on the rotation ring gear (14) of two sealed fixing devices,
Thus cleaning solution can be inputted by a sealed fixing device, it is clear that another one sealed fixing device discharges used input
Clean liquid；The liquid pass hole (14a) of a sealed fixing device can also be allowed not connect with inlet opening (13a) and liquid outlet (13b),
Thus allowing the inlet opening (13a) of another one sealed fixing device and liquid outlet (13b) to realize input/discharge cleaning solution, enter
And allow the input of cleaning solution/discharge path variation.During practice, pipeline is possibly vertically arranged it may be possible to erect
To being obliquely installed it is also possible to be horizontally disposed with, therefore robot may in pipeline upper and lower vertical shift it is also possible to up and down
Inclination movement is it is also possible to move horizontally；The reasons such as the set-up mode limitation due to pipeline, may lead to can only be from the one of pipeline
Side inputs/discharges cleaning solution it is also possible to can input/discharge cleaning solution from the both sides of pipeline, therefore robot is at two
Inlet opening (13a) and liquid outlet (13b) are equipped with the fixed disk (13) of sealed fixing device, thus can be well adapted for managing
The installation situation in road, this structure design seems simple, unnecessary, but can guarantee practice.
Using above technical scheme, the present invention passes through organic cooperation energy of radial expansion assembly and two sealed fixing devices
Enough move along inner-walls of duct, and input/discharge cleaning solution to the chamber between two sealed fixing devices, and two sealings are solid
Determine during the chamber input cleaning solution between device by round brush brush inner-walls of duct, organic cooperation can be clean, high with round brush for cleaning solution
Effect ground removes the dirt on inner-walls of duct, cannot clean efficiently against prior art that right angle setting, length is long, internal diameter is excessive
Or the defect of too small inner-walls of duct, and present configuration is compact, entire outer diameter size is little, external diameter excursion is big, adapts to model
Enclose big it is easy to manufacture, cheap.
As the decision design of the present invention, described liquid pass hole (14a) is scallop hole, and its number is 6, these liquid pass holes
(14a) it is distributed on same circumference；Described inlet opening (13a) and liquid outlet (13b) are distributed on same circumference, and inlet opening
(13a) it is circular hole, its number is 3, described liquid outlet (13b) is scallop hole, its number is 3.
Using above structure design, can more reliably make liquid pass hole (14a) in the way of alternative and described feed liquor
Hole (13a) or liquid outlet (13b) connection, thus can input/discharge cleaning solution, consequently facilitating input/discharge cleaning solution, enter
And optimize properties of product further, and this decoration structure features simple design, it is easy to manufacture.
In the present case, the number of described radial expansion assembly is four, and these radial expansion assemblies are circumferentially evenly arranged.
Using said structure design, just can effectively and reliably robot be fixed on inner-walls of duct very much.
For the ease of leading to guide effect, the described axis of guide (3) number is designed at least as three by spy, these axis of guides
(3) along described nut (5) circumferentially.
For the ease of manufacturing, described ring part (17a) and undulations (17b) are structure as a whole, and with described sealing ring
(18) integral molded plastic molding.
Preferably, described radial alignment motor (51) number is three, these radial alignment motors circumferentially uniform cloth
Put, thus can allow sealing ring (18) reducing when still be in annular closely contact with inner-walls of duct very much, so guarantee
Sealing effectiveness.Certainly, in the specific implementation, according to situations such as the bore of pipeline concrete adjustment radial alignment motor (51) concrete
Number, is not necessarily limited to the concrete numerical value described in the present embodiment.
Beneficial effect: the present invention passes through radial expansion assembly and organic cooperation of two sealed fixing devices can be along pipe
Road inwall moves, and inputs/discharge cleaning solution to the chamber between two sealed fixing devices, and two sealed fixing devices it
Between chamber input cleaning solution when by round brush brush inner-walls of duct, organic cooperation can totally, efficiently remove cleaning solution with round brush
Dirt on inner-walls of duct, cannot clean efficiently against prior art that right angle setting, length is long, internal diameter is excessive or too small
The defect of inner-walls of duct, and present configuration is compact, entire outer diameter size is little, external diameter excursion is big, subject range big it is easy to
Manufacture, cheap.
Brief description
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the schematic diagram of single radial expansion assembly in Fig. 1.
Fig. 3 is the schematic diagram of sealed fixing device and round brush in Fig. 1.
Fig. 4 is 3 sectional view.
Fig. 5 is the schematic diagram rotating ring gear in Fig. 4.
Fig. 6 is the schematic diagram of fixed disk in Fig. 4.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples:
As Fig. 1 -- shown in 6, a kind of inner-walls of duct clean robot, mainly by lower installation board 1, motor 2, the axis of guide 3, silk
Bar 4, nut 5, radial expansion assembly, round brush 11, round brush motor 12 and sealed fixing device etc. are constituted.Wherein, on lower installation board 1
One motor 2 and one group of axis of guide 3 are installed, the output shaft upper end of this motor 2 is coaxially connected with screw mandrel 4 lower end.In the present case,
The number of the axis of guide 3 is at least three, and these axis of guides 3 are along nut 5 circumferentially.The axis of guide 3 lower end is solid with lower installation board 1
Fixed, this axis of guide 3 is parallel with screw mandrel 4, and is threaded with a nut 5 on screw mandrel 4.
Circumferentially arranged with least 3 radial expansion assemblies on nut 5, in the present case, the number of radial expansion assembly is four
Individual, these radial expansion assemblies are circumferentially evenly arranged.Radial expansion assembly is by big linear electric motors 6, little linear electric motors 7, rubber
Block 8, move radially block 9 and connecting rod 10 is constituted.Wherein, the upper and lower side of big linear electric motors 6 is arranged with little linear electric motors 7,
Big linear electric motors 6 and two little linear electric motors 7 are mounted on nut 5, and the outside of these three linear electric motors is provided with one watt
The block rubber 8 of shape.The piston rod of big linear electric motors 6 is fixed with block rubber 8 center, the piston rod of each little linear electric motors 7 and
Move radially block 9 fixing.The both sides moving radially block 9 are hinged with the respective side of block rubber 8 by one group of connecting rod 10 respectively, at this
In case, the side moving radially block 9 is hinged with the side of block rubber 8 by 8 connecting rods 10, moves radially the opposite side of block 9
Hinged with the opposite side of block rubber 8 by 8 connecting rods 10, and connecting rod 10 passes through bearing pin 50 and moves radially block 9 and block rubber 8 cuts with scissors
Connect, all bearing pins are parallel.
When big linear electric motors 6, little linear electric motors 7 synchronization action, block rubber 8 is driven to radially move, so that rubber
Block 8 outer wall is contacted with inner-walls of duct.When big linear electric motors 6, little linear electric motors 7 asynchronous behavior, thus it is possible to vary block rubber 8 curved
Bilge radius, so that the whole periphery of block rubber 8 and inner-walls of duct form face and contact, increase contact area it is ensured that effective
Ground is fixing.
As Fig. 1 -- shown in 6, round brush 11 is coaxially located at the top of screw mandrel 4, and this round brush 11 is solidly set on the output of round brush motor 12
On axle.Round brush 11 the upper side and lower side is arranged with a sealed fixing device, and this sealed fixing device is by fixed disk 13, rotation
Gear ring 14, gear 15, rotary electric machine 16, rubber deformation part 17, sealing ring 18 and radial alignment motor 51 are constituted.Wherein, fixing
Disk 13 has been evenly distributed one group of inlet opening 13a and liquid outlet 13b near round brush 11, fixed disk 13 edge, and inlet opening 13a and
Liquid outlet 13b is arranged alternately.Inlet opening 13a and liquid outlet 13b is distributed on same circumference, and inlet opening 13a is circular hole, its number
Mesh is 3, and described liquid outlet 13b is scallop hole, and its number is 3.These inlet openings 13a and liquid outlet 13b is distributed in same
On circumference, and the center of circle of place circumference is overlapped with the center of circle of fixed disk 13.
Described fixed disk 13 is fitted with rotating ring gear 14, and this rotation ring gear, away from round brush 11, rotates ring gear 14 side
Edge has been evenly distributed one group of liquid pass hole 14a.Liquid pass hole 14a is scallop hole, and its number is 6, and these liquid pass holes 14a is distributed in
On same circumference, and the size of liquid outlet 14b is consistent with liquid pass hole 13a.Rotate ring gear 14 often to engage with gear 15, this gear
On 15 output shafts being solidly set on rotary electric machine 16, and rotary electric machine 16 is arranged on described fixed disk 13.When rotation ring gear 14
During rotation, liquid pass hole 14a can be driven to connect with described inlet opening 13a or liquid outlet 13b in the way of alternative, or liquid pass hole
14a is not all connected with inlet opening 13a and liquid outlet 13b.In the present case, liquid pass hole 14a is scallop hole, and its number is 6, these
Liquid pass hole 14a is distributed on same circumference；Inlet opening 13a and liquid outlet 13b is distributed on same circumference, and inlet opening 13a is
Circular hole, its number is 3, and liquid outlet 13b is scallop hole, and its number is 3.
As shown in Fig. 1,2,3 and 4, fixed disk 13 is circumferentially fixed with least 3 radial alignment motors 51, in this case
In, radial alignment motor 51 number is three, and these radial alignment motors 51 are circumferentially evenly arranged.These radial alignment motors
It is provided with the rubber deformation part 17 of an annular, the cross section of this rubber deformation part is " n " font outside 51, and by middle ring
The undulations 17b of shape portion 17a and both sides is constituted.The piston rod of radial alignment motor 51 is fixed with ring part 17a inwall, and should
The wall coaxial of ring part 17a is installed with a sealing ring 18.In the present case, ring part 17a and undulations 17b is integrated knot
Structure, and with sealing ring 18 integral molded plastic molding.
The outward flange of fixed disk 13 is fixed with respective side undulations 17b inward flange, the side of ring gear 14 with
This undulations 17b contacts side surfaces, and the outward flange of this ring gear is rotatably assorted with the inwall of ring part 17a.When all of
During radial alignment motor 51 synchronization action, sealing ring 18 diameter can be changed, to make sealed fixing device be close to inner-walls of duct,
And realize sealing.
Screw mandrel 4 upper end is rotatably assorted with the fixed disk 13 of a following sealed fixing device, and the axis of guide 3 upper end is solid with this
Price fixing is fixed.Round brush motor 12 is mounted above on the fixed disk 13 of a sealed fixing device, the output shaft of this round brush motor
Lower end is linked together it is possible to relatively rotate with the fixed disk 13 of a following sealed fixing device.
In technique scheme, during large and small linear electric motors synchronization action, block rubber 8 is driven to radially move, thus adjusting
Whole radius, during the output shaft synchronous elongation of large and small linear electric motors, just can make block rubber 8 outer wall contact with inner-walls of duct；Due to not
Inner-walls of duct radian with bore is variant, so during described large and small linear electric motors asynchronous behavior, thus it is possible to vary block rubber 8
Bending radius, so that the whole periphery of block rubber 8 forms face with inner-walls of duct contacting, concrete principle is: little linear electric motors 7
When output shaft elongation exceedes the output shaft of big linear electric motors 6, move radially block 9 and be displaced outwardly, the bending radius of block rubber 8 becomes
Greatly；When little linear electric motors 7 output shaft elongation not less than big linear electric motors 6 output shaft when, move radially block 9 and inwardly move
Dynamic, the bending radius of block rubber 8 diminishes.Using said structure design, all of radial expansion assembly and inner-walls of duct just can be made
Contact, thus the present invention is fixed on inner-walls of duct in the way of departing from.
Meanwhile, when all of described radial alignment motor 51 synchronization action, sealing ring 18 diameter can be changed, to make close
Envelope fixing device is close to inner-walls of duct, thus the present invention is fixed on pipe with by way of departing from by two sealed fixing devices
On road inwall.During use, two sealed fixing devices and all of radial expansion assembly alternation, just can make robot edge
Inner-walls of duct to move up and down, concrete operating principle is: when all of radial expansion assembly is fixing with inner-walls of duct, two close
Envelope fixing device and inner-walls of duct depart from, and now start and move on motor 2 drive nut 5, and then drive two sealed fixing devices
Upper shifting；After moving a segment distance on two sealed fixing devices, fix with inner-walls of duct, control all of radial expansion assembly and pipe
Road inwall departs from, and restarts motor 2 and drives shifting on nut 5, and then drive shifting on all of radial expansion assembly, treats all of footpath
After moving a segment distance on telescopic component, all of radial expansion assembly is fixed with inner-walls of duct, then controlled motor 2 drives spiral shell
Mother 5 and two sealed fixing devices move on the whole, and so on, robot just can be made to move up along inner-walls of duct, and
The operation principle moving down with move up identical.
And, when sealing ring 18 periphery is contacted with inner-walls of duct, can realize well sealing；And fixed disk 13 and rotation
Ring gear 14 is fitted, and when rotation ring gear 14 rotates under the drive of gear, can make liquid pass hole 14a in the way of alternative and institute
State inlet opening 13a or liquid outlet 13b connection, or liquid pass hole 14a is not all connected with inlet opening 13a and liquid outlet 13b.Serve as liquid
When hole 14a is connected with described inlet opening 13a or liquid outlet 13b in the way of alternative, can input/discharge cleaning solution；Serve as
It is impossible to input/discharge cleaning solution when fluid apertures 14a is not all connected with inlet opening 13a and liquid outlet 13b.When to two sealing fixations
After chamber input cleaning solution between device, the rotation ring gear 14 of two sealed fixing devices is controlled to rotate, so that two close
Envelope fixing device all can not input/discharge cleaning solution, thus can be formed between two sealed fixing devices one airtight
Chamber, now round brush rotation under the drive of round brush motor, thus clean inner-walls of duct.After completing cleaning, make liquid pass hole 14a and go out
Fluid apertures 13b connects, and just can discharge the useless cleaning solution after cleaning.
The foregoing is only presently preferred embodiments of the present invention, not with the present invention for limiting, all essences in the present invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (6)
1. a kind of inner-walls of duct clean robot it is characterised in that: include lower installation board (1) and round brush (11), wherein lower installation
One motor (2) and one group of axis of guide (3) are provided with plate (1), the output shaft upper end of this motor is coaxially connected with screw mandrel (4) lower end
Connect；The described axis of guide (3) lower end is fixing with lower installation board (1), and this axis of guide is parallel with screw mandrel (4), and the upper screw thread of screw mandrel (4) is even
It is connected to a nut (5)；
Circumferentially arranged with least 3 radial expansion assemblies on described nut (5), this radial expansion assembly includes big linear electric motors
(6) and connecting rod (10), the upper and lower side of wherein big linear electric motors (6) is arranged with a little linear electric motors (7), these three straight lines
Motor is mounted on described nut (5), and is provided with the block rubber (8) of a tiles outside three linear electric motors；Described straight greatly
The piston rod of line motor (6) is fixed with block rubber (8) center, the piston rod of each little linear electric motors (7) with move radially block
(9) fixing, the both sides that this moves radially block pass through the respective side hinge of connecting rod (10) described in a group and described block rubber (8) respectively
Connect；When large and small linear electric motors (6,7) synchronization action, block rubber (8) is driven to radially move, so that block rubber (8) outer wall
Contact with inner-walls of duct；When described large and small linear electric motors (6,7) asynchronous behavior, thus it is possible to vary the bending of block rubber (8) half
Footpath, so that the whole periphery of block rubber (8) forms face with inner-walls of duct contact；
Described round brush (11) is coaxially located above screw mandrel (4), and this round brush is solidly set on the output shaft of round brush motor (12)；Described rolling
Brush (11) upper and lower side is arranged with a sealed fixing device, and this sealed fixing device includes fixed disk (13) and sealing ring
(18), near described round brush (11), fixed disk (13) edge has been evenly distributed one group of inlet opening (13a) to wherein fixed disk (13)
With liquid outlet (13b), and inlet opening (13a) and liquid outlet (13b) are arranged alternately；Described fixed disk (13) and rotation ring gear
(14) fit, this rotation ring gear, away from round brush (11), rotates ring gear (14) edge and has been evenly distributed one group of liquid pass hole
(14a)；Described rotation ring gear (14) is often engaged with gear (15), and this gear is solidly set on the output shaft of rotary electric machine (16),
And rotary electric machine (16) is arranged on described fixed disk (13), when rotating ring gear (14) rotation, liquid pass hole (14a) can be driven
Connected with described inlet opening (13a) or liquid outlet (13b) in the way of alternative, or liquid pass hole (14a) all not with inlet opening
(13a) connect with liquid outlet (13b)；
At least 3 radial alignment motors (51) are circumferentially fixed with described fixed disk (13), outside these radial alignment motors
It is provided with the rubber deformation part (17) of an annular, the cross section of this rubber deformation part is " n " font, and by middle ring part
(17a) constitute with the undulations (17b) of both sides；The piston rod of described radial alignment motor (51) and ring part (17a) inwall
Fixing, and the wall coaxial of this ring part is installed with a described sealing ring (18)；The outward flange of described fixed disk (13) with right
Undulations (17b) inward flange answering side is fixed, the side of described ring gear (14) and this undulations (17b) side
Contact, and the outward flange of this ring gear is rotatably assorted with the inwall of ring part (17a)；When all of described radial alignment motor
(51) during synchronization action, sealing ring (18) diameter being changed, to make sealed fixing device be close to inner-walls of duct, and realizing close
Envelope；
Described screw mandrel (4) upper end is rotatably assorted with the fixed disk (13) of a following sealed fixing device, and the described axis of guide (3)
Upper end is fixed with this fixed disk；Described round brush motor (12) is mounted above on the fixed disk (13) of a sealed fixing device,
The fixed disk (13) of the output shaft lower end of this round brush motor and a following described sealed fixing device link together it is possible to
Relatively rotate.
2. inner-walls of duct clean robot according to claim 1 it is characterised in that: described liquid pass hole (14a) be sector
Hole, its number is 6, and these liquid pass holes (14a) are distributed on same circumference；Described inlet opening (13a) and liquid outlet (13b) point
Cloth is on same circumference, and inlet opening (13a) is circular hole, and its number is 3, and described liquid outlet (13b) is scallop hole, its number
For 3.
3. inner-walls of duct clean robot according to claim 1 it is characterised in that: the number of described radial expansion assembly
For four, these radial expansion assemblies are circumferentially evenly arranged.
4. inner-walls of duct clean robot according to claim 1 it is characterised in that: the described axis of guide (3) number is at least
Three, these axis of guides (3) are along described nut (5) circumferentially.
5. inner-walls of duct clean robot according to claim 1 it is characterised in that: described ring part (17a) and wave
(17b) is structure as a whole in shape portion, and with described sealing ring (18) integral molded plastic molding.
6. inner-walls of duct clean robot according to claim 1 it is characterised in that: described radial alignment motor (51) number
Mesh is three, and these radial alignment motors are circumferentially evenly arranged.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611018550.1A CN106362994B (en) | 2016-11-15 | 2016-11-15 | A kind of inner wall of the pipe clean robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611018550.1A CN106362994B (en) | 2016-11-15 | 2016-11-15 | A kind of inner wall of the pipe clean robot |
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| CN106362994A true CN106362994A (en) | 2017-02-01 |
| CN106362994B CN106362994B (en) | 2018-06-15 |
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| CN201611018550.1A Active CN106362994B (en) | 2016-11-15 | 2016-11-15 | A kind of inner wall of the pipe clean robot |
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| CN106925481A (en) * | 2017-03-13 | 2017-07-07 | 李红燕 | A kind of fluid sealant application device of air pump body end mouthful |
| CN108262318A (en) * | 2018-01-15 | 2018-07-10 | 王克朝 | A kind of pipeline cleaning robot |
| CN111069195A (en) * | 2020-02-20 | 2020-04-28 | 衢州刚度智能科技有限公司 | Hydraulic engineering water pipe internal cleaning machine |
| CN111578042A (en) * | 2020-06-16 | 2020-08-25 | 合肥鑫峰机械科技有限责任公司 | Intelligent decontamination robot for water supply pipeline |
| CN111881860A (en) * | 2020-07-31 | 2020-11-03 | 重庆理工大学 | Modeling method of hob abrasion in-situ recognition model and hob abrasion in-situ recognition method |
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| CN205386558U (en) * | 2016-03-11 | 2016-07-20 | 广东嘉元科技股份有限公司 | Elevated tank pipe inner wall scale removal device |
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| CN108262318A (en) * | 2018-01-15 | 2018-07-10 | 王克朝 | A kind of pipeline cleaning robot |
| CN111069195A (en) * | 2020-02-20 | 2020-04-28 | 衢州刚度智能科技有限公司 | Hydraulic engineering water pipe internal cleaning machine |
| CN111578042A (en) * | 2020-06-16 | 2020-08-25 | 合肥鑫峰机械科技有限责任公司 | Intelligent decontamination robot for water supply pipeline |
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| CN111881860A (en) * | 2020-07-31 | 2020-11-03 | 重庆理工大学 | Modeling method of hob abrasion in-situ recognition model and hob abrasion in-situ recognition method |
| CN111881860B (en) * | 2020-07-31 | 2022-05-03 | 重庆理工大学 | Modeling method of hob abrasion in-situ recognition model and hob abrasion in-situ recognition method |
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