CN107355637B - Sectional cleaning robot for central air-conditioning pipeline - Google Patents
Sectional cleaning robot for central air-conditioning pipeline Download PDFInfo
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- CN107355637B CN107355637B CN201710639469.3A CN201710639469A CN107355637B CN 107355637 B CN107355637 B CN 107355637B CN 201710639469 A CN201710639469 A CN 201710639469A CN 107355637 B CN107355637 B CN 107355637B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a sectional cleaning robot for a central air-conditioning pipeline, wherein two ends of a propulsion module are respectively provided with a walking module; the walking module comprises a frame body, a bidirectional screw rod rotatably mounted in the frame body, a head nut screwed at one end of the bidirectional screw rod, a tail nut screwed at the other end of the bidirectional screw rod, and a plurality of groups of scissors-shaped supporting arm assemblies uniformly arranged along the circumferential direction; the cleaning module is installed on the walking module, a plurality of stretching arms which are distributed in an umbrella shape are hinged to the base plate, the umbrella handle is fixed to the base plate, a boss is arranged at the end portion of the umbrella handle, a piston which moves axially along the umbrella handle is sleeved on the umbrella handle, a first spring which is sleeved on the umbrella handle is located between the boss and the piston, one end of a connecting arm is hinged to the piston, the other end of the connecting arm is hinged to the stretching arms, and the hairbrush is hinged to the end portions of the stretching arms. The cleaning robot can walk in a pipeline and clean the inner wall of the pipeline, and belongs to the technical field of pipeline cleaning.
Description
Technical Field
The invention relates to the technical field of cleaning in pipelines, in particular to a sectional type cleaning robot for a central air-conditioning pipeline.
Background
Along with the development of economy and scientific technology in China, central air conditioners are used more and more, at present, for cleaning air conditioner ventilating ducts, the manual cleaning mode is large in danger, large in labor capacity, low in working efficiency and high in cost, dust is extremely harmful to human bodies, and for ventilating ducts with small pipe diameters, manual cleaning cannot be carried out, so that the central air conditioner duct cleaning robot is a new research direction and has a huge market prospect.
The pipe robot developed at present can be divided into 7 types, such as medium pressure difference driving, wheel type driving, crawling type driving, abdominal wall type driving, walking type driving, crawling type driving, spiral type driving and the like according to different driving modes, wherein the wheel type pipe robot has the highest driving efficiency. "design of robot for walking in pipe" published in experimental technology and management, 8 th volume, 5 th of 2014 discloses a wheeled pipe robot. The design aims at further expanding the pipe diameter adaptive range of the robot on the premise of ensuring the driving efficiency and stability of the wheeled pipeline robot, and the scheme of introducing a serial double-parallelogram mechanism into a wheel leg structure of the robot is provided. The wheel type walking structure is adopted, so that the following defects are obviously caused: 1. the vertical pipeline cannot be climbed; 2. the bent pipe cannot be well adapted; 3. for a pipeline with a changed pipe diameter, the axis of the robot may deviate from the axis of the pipeline, so that other contact parts cannot be well contacted.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention aims to: provided is a segmented cleaning robot for a duct of a central air conditioner, which can walk in the duct and clean the inner wall of the duct.
In order to achieve the purpose, the invention adopts the following technical scheme:
the sectional cleaning robot for the central air conditioning pipeline comprises a propelling module, a walking module and a cleaning module; two ends of the propulsion module are provided with walking modules;
the walking module comprises a frame body, a bidirectional screw rod rotatably mounted in the frame body, a head nut screwed at one end of the bidirectional screw rod, a tail nut screwed at the other end of the bidirectional screw rod, and a plurality of groups of scissor-shaped supporting arm assemblies uniformly arranged along the circumferential direction; the scissors-shaped supporting arm assembly comprises a first supporting arm and a second supporting arm which are hinged with each other, one end of the first supporting arm is hinged to the head nut, the other end of the first supporting arm is contacted with the inner wall of the pipeline through an elastic ball, one end of the second supporting arm is hinged to the tail nut, and the other end of the second supporting arm is contacted with the inner wall of the pipeline through the elastic ball;
the cleaning module is arranged on the walking module and comprises an umbrella handle, a piston, a brush, a first spring, a base plate, a plurality of connecting arms and a plurality of stretching arms; a plurality of stretching arms which are distributed like an umbrella are hinged on a base plate, an umbrella handle is fixed on the base plate, a boss is arranged at the end part of the umbrella handle, a piston which moves along the axial direction of the umbrella handle is sleeved on the umbrella handle, a first spring which is sleeved on the umbrella handle is positioned between the boss and the piston, one end of a connecting arm is hinged on the piston, the other end of the connecting arm is hinged on the stretching arm, and a hairbrush is hinged at the end part of the stretching arm.
Further, the method comprises the following steps: the propelling module comprises a first motor, a one-way screw, a connecting frame, a driving nut arranged in the connecting frame, a first universal joint and a second universal joint; the driving nut is screwed on the one-way screw rod, one end of the first universal joint is connected to the frame body of one of the walking modules, the other end of the first universal joint is connected to the connecting frame, the first motor is installed on the frame body of the other walking module, one end of the second universal joint is connected to the one-way screw rod, and the other end of the second universal joint is connected to the output end of the first motor. The propelling module can drive the upper end walking module and the lower end walking module to advance in sequence.
Further, the method comprises the following steps: the frame body comprises a head flat plate, a tail flat plate and a connecting frame for connecting the head flat plate and the tail flat plate; the connecting frame is internally provided with a strip-shaped notch used for the scissors-shaped supporting arm assembly to open and close, and the first supporting arm and the second supporting arm which are hinged with each other penetrate through the strip-shaped notch. The whole simple structure of support body, the strip notch can prevent that first brace and second brace from rocking for first brace and second brace can only the tilting.
Further, the method comprises the following steps: the walking module also comprises a plurality of groups of contact feedback assemblies and a second motor for driving the bidirectional screw to rotate, and the second motor is arranged on the frame body; a group of contact feedback assemblies are mounted at the end part of the first supporting arm and the end part of the second supporting arm; the contact feedback assembly comprises a storage box, an elastic ball, a pressure sensor and a box cover; the pressure sensor comprises a strip-shaped part and a ring-shaped part which are connected together, the pressure sensor is in signal connection with the second motor, the storage box is provided with a cavity, the ring-shaped part of the pressure sensor is arranged in the cavity of the storage box, an elastic ball for extruding the ring-shaped part of the pressure sensor is arranged in the cavity of the storage box, the box cover is fixed at the end part of the storage box, and one part of the elastic ball is exposed out of the box cover; the strip-shaped part of the pressure sensor of each group of contact feedback assemblies is arranged on the first supporting arm or the second supporting arm, and the storage box of each group of contact feedback assemblies is hinged on the first supporting arm or the second supporting arm. The pressure sensor may feed back a corresponding signal which is ultimately used to control the second motor which then ultimately drives the scissors boom assembly to either continuously resist loosening or to continuously open. The inner wall of elastic ball and pipeline contacts, and simultaneously, the receiver articulates on the brace arm, and the receiver can be at certain within range internal rotation, the condition in the pipeline of adaptation more easily.
Further, the method comprises the following steps: the cleaning robot also comprises a plurality of groups of auxiliary supporting components which are uniformly arranged along the circumferential direction, wherein each auxiliary supporting component comprises a base block, a sleeve, an extension rod, a guide wheel seat and a second spring; the base block is fixed on a frame body of the walking module, an end plate is arranged at the end part of the sleeve and fixed on the base block, an end block is arranged at the end part of the extension rod, the guide wheel seat is fixed on the end block, the guide wheel is rotatably installed on the guide wheel seat, the second spring is sleeved on the sleeve, the extension rod is inserted into the sleeve, the sleeve end plate is located on one side of the second spring, and the end block of the extension rod is located on the other side of the second spring. The auxiliary supporting assembly ensures that the axis of the cleaning robot is stable, and the whole cleaning robot can not shake in the pipeline.
Further, the method comprises the following steps: the side surface of the circumference of the extension rod is provided with a strip-shaped bulge, and a through groove matched with the extension rod and the strip-shaped bulge is arranged in the sleeve. The strip-shaped bulges prevent the extension rod and the sleeve from rotating relatively, so that the extension rod can only move back and forth in the through groove of the sleeve in a straight line.
Further, the method comprises the following steps: the support body also comprises an auxiliary plate, the auxiliary plate is connected to the support body through a strip bolt, and the base block of the auxiliary supporting assembly is fixed on the auxiliary plate. The auxiliary plate may be used to mount the corresponding motor, auxiliary support assembly and other electrical equipment.
Further, the method comprises the following steps: the cleaning module further comprises a third motor and a connecting shaft, the third motor is installed on the frame body of the walking module, one end of the connecting shaft is connected with the output end of the third motor, and the other end of the connecting shaft is connected with the substrate. The third motor can drive the whole cleaning module to integrally rotate through the connecting shaft.
Further, the method comprises the following steps: the piston comprises a cylinder, a circular table and a plurality of side blocks which are integrally manufactured; the circular truncated cone is arranged at the end of the cylinder, the side blocks are arranged on the circumferential side surface of the cylinder, the side blocks are uniformly distributed along the circumferential direction of the cylinder, and the side blocks are provided with through holes hinged with the connecting arms and straight grooves used for rotating the connecting arms. The piston is structured to realize the hinging of the connecting arm and the rotation of the connecting arm
Further, the method comprises the following steps: the brush is hinged to the end of the stretching arm through the hinge block, the hinge block comprises a cylinder and a side block which are integrally made, the cylinder is fixedly sleeved on a brush shaft of the brush, the side block is arranged on the circumferential side face of the cylinder, and the side block is provided with a through hole hinged to the stretching arm and a straight groove used for the stretching arm to rotate. The structure of the hinge block can realize the hinge and relative rotation of the stretching arm and the connecting block.
In general, the present invention has the following advantages:
1. the cleaning module can automatically adapt to the change of the radius of the pipeline, and brushes with different sizes and specifications do not need to be replaced manually.
2. The cleaning module has no dead point, and the condition of diameter-changing function failure can not occur in the working process.
3. The brush can be ensured to be attached to the wall of the pipeline constantly.
4. The cleaning module can adapt to the environment of a curved pipeline and a parallel straight pipeline.
5. The brush is not permanent fixed, uses a period of time after, and the brush will damage because of rubbing, takes off the brush from articulated piece this moment, can improve clean effect through the method of changing the brush, and is convenient and high-efficient.
6. The cleaning robot can walk in a pipeline, can be a pipeline such as a horizontal straight pipe, a horizontal bent pipe, a horizontal diameter-variable straight pipe, a non-horizontal bent pipe and a non-horizontal diameter-variable straight pipe, and can adapt to the condition of changing of the radius of the pipeline. Can move in the circular pipeline that becomes any angle with ground steadily, can also adapt to the change of pipe diameter in certain extent simultaneously, have stronger adaptability to operational environment.
Drawings
Fig. 1 is a schematic structural view of the cleaning robot, not showing the cleaning module.
Fig. 2 is a schematic view of the structure at the walking module.
FIG. 3 is a schematic view of the structure of the contact feedback assembly and the first arm or the second arm.
Fig. 4 is a schematic structural view of the auxiliary support assembly.
Fig. 5 is a schematic view of the sleeve and end plate.
Fig. 6 is a schematic structural view of a boom and an end block.
Fig. 7 is a schematic structural view of a propulsion module.
Figure 8 is a front view of the cleaning module.
Figure 9 is a perspective view of the cleaning module.
Fig. 10 is a schematic view of the piston structure.
Fig. 11 is a schematic structural view of the stretching arm.
Fig. 12 is a schematic view of the structure of the connecting arm.
Fig. 13 is a schematic view of the structure of the hinge block.
Fig. 14 is a schematic configuration diagram of the cleaning robot.
Wherein, 1 is a walking module, 2 is a propelling module, 3 is an auxiliary supporting component, 4 is a cleaning module, 1-1 is a contact feedback component, 1-2 is a second supporting arm, 1-3 is a first supporting arm, 1-4 is a head flat plate of a frame body, 1-5 is a tail flat plate of the frame body, 1-6 is a connecting frame of the frame body, 1-7 is a strip-shaped notch, 1-8 is a head nut, 1-9 is a tail nut, 1-10 is a bidirectional screw rod, 1-11 is an auxiliary plate, 1-12 is a strip-shaped bolt, 1-1-1 is a storage box, 1-1-2 is an elastic ball, 1-1-3 is a box cover, 1-1-4 is a circular ring part of a pressure sensor, 1-1-5 is a strip-shaped part of the pressure sensor, 1-1-6 is an avoiding notch, 1-1-7 is a cavity of a storage box, 2-1 is a second universal joint, 2-2 is a one-way screw rod, 2-3 is a driving nut, 2-4 is a connecting frame, 2-5 is a first universal joint, 3-1 is a base block, 3-2 is a sleeve, 3-3 is an end plate, 3-4 is a second spring, 3-5 is an extension rod, 3-6 is an end block, 3-7 is a guide wheel seat, 3-8 is a guide wheel, 3-9 is a through groove in the sleeve, 3-10 is a strip-shaped bulge, 4-1 is an umbrella handle, 4-2 is a piston, 4-3 is a connecting arm, 4-4 is an opening arm, 4-5 is a hinged support, 4-6 is a flange, 4-7 is a hinged block, 4-8 is a brush, 4-9 is a first spring, 4-10 is a base plate, 4-11 is a boss on an umbrella handle, 4-12 is a cylinder of a piston, 4-13 is a circular table of the piston, 4-14 is a side block of the piston, 4-15 is a through hole on the side block of the piston, 4-16 is a straight groove on the side block of the piston, 4-17 is a through hole on an opening arm, 4-18 is a rectangular through groove in the opening arm, 4-19 is a through hole on a connecting arm, 4-20 is a cylinder of a hinge block, 4-21 is a side block of the hinge block, 4-22 is a through hole on the side block of the hinge block, 4-23 is a straight groove on the side block of the hinge block, and 4-24 is a connecting shaft.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and detailed description.
Referring to fig. 1 to 7, a segmented cleaning robot for a central air conditioning duct includes a propulsion module, a walking module, and a cleaning module; the present embodiment first describes the propulsion module and the walking module, and then describes the cleaning module. Both ends of the propelling module are provided with walking modules, namely one walking module is arranged at one end of the propelling module, and the other walking module is arranged at the other end of the propelling module. The walking module comprises a frame body, a bidirectional screw, a head nut, a tail nut and a plurality of groups of scissors-shaped supporting arm assemblies. The bidirectional screw is rotatably installed inside the frame body, the bidirectional screw is located in the center of the inside of the frame body, the head nut and the tail nut are in threaded fit with the bidirectional screw, the head nut is screwed at one end (the upper end of the bidirectional screw in figure 1) of the bidirectional screw, the tail nut is screwed at the other end (the lower end of the bidirectional screw in figure 1) of the bidirectional screw, and the plurality of groups of scissors-shaped supporting arm assemblies are uniformly arranged along the circumferential direction. The scissors-shaped supporting arm assembly comprises a first supporting arm and a second supporting arm which are hinged with each other, one end of the first supporting arm is hinged to the head nut, the other end of the first supporting arm is contacted with the inner wall of the pipeline through an elastic ball, one end of the second supporting arm is hinged to the tail nut, and the other end of the second supporting arm is contacted with the inner wall of the pipeline through the elastic ball; as shown in fig. 2, the first supporting arm and the second supporting arm are hinged together like scissors, the upper end of the first supporting arm is hinged to the head nut, the lower end of the second supporting arm is hinged to the tail nut, the lower end of the first supporting arm and the upper end of the second supporting arm are both provided with a contact feedback assembly, the contact feedback assembly comprises an elastic ball, and the lower end of the first supporting arm and the upper end of the second supporting arm are both in contact with the inner wall of the pipeline through the elastic ball.
Referring to fig. 7, the propulsion module includes a first motor, a unidirectional screw, a connecting frame, a driving nut disposed inside the connecting frame, a first gimbal, and a second gimbal. The driving nut is screwed on the one-way screw, the driving nut is in threaded fit with the one-way screw, and when the one-way screw rotates, the driving nut can move along the axial direction of the one-way screw, namely in fig. 7, the driving nut can move up and down. One end of a first universal joint is connected to the frame body of one of the walking modules, the other end of the first universal joint is connected to the connecting frame, the first motor is installed on the frame body of the other walking module, one end of a second universal joint is connected to the one-way screw rod, and the other end of the second universal joint is connected with the output end of the first motor; as shown in fig. 7, the lower end of the first gimbal is connected to the frame of the lower walking module, the upper end of the first gimbal is connected to the connecting frame, the first motor is installed on the frame of the upper walking module, the lower end of the second gimbal is connected to the one-way screw, and the upper end of the second gimbal is connected to the output end of the first motor. The stepping motor is selected for the first motor, the technology that the first motor controls the one-way screw to rotate belongs to the prior art, the one-way screw is a multi-thread, and on the premise that the output torque is guaranteed to be met, the motor with the large rotating speed adjusting range is selected for use, so that the moving distance of the driving nut on the one-way screw is large, and the working time of the propelling module is shortened.
The walking module also comprises a second motor for driving the bidirectional screw to rotate, and the second motor is installed on the frame body. When the second motor rotates forwards or reversely, the head nut and the tail nut can be driven to move away from or approach to each other. The technology that the second motor controls the bidirectional screw to rotate belongs to the prior art.
As shown in fig. 2 and 3, the walking module further includes a plurality of sets of contact feedback assemblies, and a set of contact feedback assemblies is installed on both the end (lower end) of the first arm brace and the end (upper end) of the second arm brace. The contact feedback assembly comprises a storage box, an elastic ball, a pressure sensor and a box cover. The pressure sensor comprises a strip portion and a circular ring portion which are connected together, and the pressure sensor is in signal connection with the second motor. The receiver is the cuboid form roughly, the receiver is equipped with the cavity, pressure sensor's ring portion is placed in the cavity of receiver, an elastic ball for extrusion pressure sensor ring portion places the cavity at the receiver, place pressure sensor's ring portion in the cavity of receiver promptly earlier, then pressure sensor's ring portion is being pressed to the elastic ball, both place in the cavity of receiver together, the tip at the receiver is fixed to the lid, be equipped with the round hole on the lid, a part of elastic ball exposes the lid. The strip-shaped part of the pressure sensor of each group of contact feedback assemblies is arranged on the first supporting arm or the second supporting arm, and the storage box of each group of contact feedback assemblies is hinged on the first supporting arm or the second supporting arm; first brace and second brace are collectively called the brace, and pressure sensor's strip portion is installed on the brace promptly, and the receiver articulates the tip at the brace to the receiver can be round the brace rotation in certain extent, and the size of brace is less, and receiver pivoted scope is big more.
The lateral part of receiver is opened has and is kept away a notch, keeps away a notch and cavity and can be linked together, and the department of meeting of pressure sensor ring portion and pressure sensor strip is located keeps away a notch, and during elastic ball extrusion pressure sensor's ring portion, the department of meeting of ring portion and strip, strip all can not touch the outline of receiving the box to protection pressure sensor.
As shown in fig. 1 and 4, the cleaning robot further includes a plurality of auxiliary support assemblies, the auxiliary support assemblies are mounted on the frame body, and the plurality of auxiliary support assemblies are uniformly arranged on the frame body along the circumferential direction. The auxiliary supporting component comprises a base block, a sleeve, an extension rod, a guide wheel seat and a second spring. The base block is L shaped steel, the base block is fixed on the frame body of the walking module, the end plate is arranged at the end part of the sleeve, the end plate is fixedly connected with the sleeve, the end plate is fixed on the base block, the end part of the extension rod is provided with the end block, the end block is fixedly connected with the extension rod, the guide wheel seat is fixed on the end block, the guide wheel is rotatably arranged on the guide wheel seat, the second spring is sleeved on the sleeve, the extension rod is inserted into the sleeve, the end plate of the sleeve is positioned on one side of the second spring, the end block of the extension rod is positioned on the other side of the second spring, one end of the second spring can be connected onto the end plate, and the other end of the second spring can be connected onto the end block.
As shown in fig. 5 and 6, the side surface of the circumference of the extension rod is provided with a strip-shaped protrusion, the strip-shaped protrusion extends along the axial direction of the extension rod, and a through groove matched with the extension rod and the strip-shaped protrusion is arranged in the sleeve. The extension rod and the strip-shaped protrusions are inserted into the through groove in the sleeve together, and when the extension rod moves back and forth in the through groove in the sleeve, the strip-shaped protrusions can play a role in preventing rotation, prevent the extension rod and the sleeve from rotating relatively, and enable the extension rod to move back and forth only in the through groove of the sleeve in a straight line.
The support body comprises a head flat plate, a tail flat plate and a connecting frame which is connected with the head flat plate and the tail flat plate. The upper end of the connecting frame is fixed with the head flat plate, the lower end of the connecting frame is fixed with the tail flat plate, a strip-shaped notch used for opening and closing the scissors-shaped supporting arm assembly is arranged in the connecting frame, and the first supporting arm and the second supporting arm which are hinged to each other penetrate through the strip-shaped notch. The strip notch is the rectangle form, and the strip notch can also play spacing effect, and when first bracer and second bracer opened or closed, can prevent that first bracer or second bracer from rocking, first bracer, second bracer and linking frame can be together articulated simultaneously, and first bracer and second bracer can only the tilting.
As shown in fig. 1, the frame body further includes an auxiliary plate, the auxiliary plate is connected to the frame body through a strip bolt, the auxiliary plate can be connected to the head flat plate or the tail flat plate through a strip bolt, if a larger number of auxiliary plates are needed, the second auxiliary plate is connected to the first auxiliary plate through a strip bolt, and the base block of the auxiliary support assembly is fixed to the auxiliary plate. The auxiliary support assembly, the first motor and the second motor may be mounted on a suitable auxiliary plate, head plate or tail plate, the first motor and the second motor not being shown. The two ends of the propulsion module can also be respectively connected to the corresponding auxiliary plates.
The walking principle of the cleaning robot is as follows: the walking behavior of cleaning machines people in the pipeline does, the whole initial condition that relaxes of structure of two walking modules about it, the second motor corotation of walking module on the earlier control upper end, it is rotatory to drive two-way screw rod, make head nut and tail nut keep away from each other, and then make the scissors form brace arm subassembly of walking module on the upper end continuously open, the elastic ball then continuously extrudees the inner wall of pipeline, until receiving pressure sensor's feedback signal, second motor stall, the inner wall of pipeline is being extruded to the elastic ball this moment, fix the whole walking module of upper end, the whole walking module of upper end is in the tensioning state promptly. Then first motor corotation, first motor pass through the one-way screw rod of second universal joint drive forward rotation, and then impel the drive nut to advance (the walking module direction motion towards the upper end) together with the link, drives whole walking module forward motion of lower extreme again, when first motor reaches design number of turns threshold value, the stall. Then, the second motor of control lower extreme walking module corotation drives two-way screw rod rotatory for head nut and tail nut keep away from each other, and then makes the scissors form brace arm subassembly of lower extreme walking module continuously open, and the elastic ball then continuously extrudees the inner wall of pipeline, and until receiving pressure sensor's feedback signal, the second motor stall, the elastic ball is extruding the inner wall of pipeline this moment, fixes the whole walking module of lower extreme, and the whole walking module of lower extreme is in the tensioning state promptly. Then, the second motor of the upper end walking module is controlled to rotate reversely, so that the scissors-shaped supporting arm assembly continuously prevents looseness (performs closing action) until the pressure signal fed back by the pressure sensor is 0 (is considered to be completely loosened). And then, the first motor rotates reversely, the first motor drives the one-way screw rod to rotate reversely through the second universal joint, and the upper end walking module is lifted to advance. The cleaning robot can move in the pipeline in a reciprocating manner to finish the walking task of the cleaning robot in the pipeline.
The auxiliary supporting component plays a role of auxiliary supporting when the scissors-shaped supporting arm component is relaxed (loses main supporting), and the stability of the axis of the cleaning robot is ensured. When the leading wheel does not contact with the inner wall of the pipeline, the second spring pushes the extension rod to enable the end block to be away from the end plate, so that the leading wheel contacts with the inner wall of the pipeline again, and the whole cleaning robot is kept not to shake in the pipeline.
The cleaning robot walks in the pipeline and can be a horizontal straight pipe, a horizontal bent pipe, a horizontal reducing straight pipe, a non-horizontal bent pipe, a non-horizontal reducing straight pipe and other pipelines.
The cleaning module is described in detail below:
referring to fig. 8 to 13, the cleaning module includes an umbrella handle, a piston, a brush, a first spring, a base plate, a plurality of connecting arms, and a plurality of stretching arms. A plurality of opening arms which are distributed in an umbrella shape are hinged on the base plate, namely the opening arms are uniformly distributed along the circumferential direction, the umbrella handle is arranged at the central position of all the opening arms, and all the opening arms can rotate around the base plate, so that the opening or the condensation is realized. One end of the umbrella handle is fixed on the base plate, the boss is arranged at the end part of the umbrella handle (the other end of the umbrella handle), the piston moving along the axial direction of the umbrella handle is sleeved on the umbrella handle, namely, the through hole is arranged in the piston, and the piston can be sleeved on the umbrella handle and can move along the axial direction of the umbrella handle. The first spring sleeved on the umbrella handle is positioned between the boss and the piston, one end of the first spring can be connected to the boss, and the other end of the first spring is connected to the round table of the piston. One end of the connecting arm is hinged on the piston, the other end of the connecting arm is hinged on the stretching arm, and the brush is hinged on the end part of the stretching arm.
As shown in fig. 10, for the structure of the piston: the piston comprises a cylinder, a circular truncated cone and a plurality of side blocks which are integrally manufactured, namely the cylinder, the circular truncated cone and the side blocks are integrated into a whole and are integrally formed. The circular truncated cone is arranged at the end part of the cylinder, the side blocks are arranged on the circumferential side surface of the cylinder, the side blocks are uniformly distributed along the circumferential direction of the cylinder, through holes hinged with the connecting arms and straight grooves used for rotating the connecting arms are formed in the side blocks, the through holes formed in the side blocks are vertically intersected with the straight grooves, the number of the side blocks on the piston is 3, and correspondingly, the number of the tension arms and the number of the connecting arms are also 3; the cylinder and the round table of the piston are sleeved on the umbrella handle and can move on the umbrella handle.
As shown in fig. 13, the brush is hinged at the end of the opening arm by a hinge block, and for the structure of the hinge block: the hinged block comprises a cylinder and a side block which are integrally manufactured, the cylinder is fixedly sleeved on a brush shaft of the brush, the cylinder and the brush shaft are fixedly connected, the cylinder and the brush shaft can be fixed in a pin shaft or bolt mode, when the brush needs to be replaced, the brush shaft and the cylinder can be disassembled, the side block is arranged on the circumferential side surface of the cylinder, and the side block is provided with a through hole hinged with the stretching arm and a straight groove used for stretching the arm to rotate.
As shown in fig. 11, the stretching arm is rod-shaped, through holes are formed at two ends of the stretching arm, a rectangular through groove is formed in the stretching arm, and one end of the connecting arm is located in the rectangular through groove and hinged to the stretching arm. A rectangular through groove is formed in the stretching arm, so that the rotation of the connecting arm is not hindered.
Referring to fig. 12, the connecting arm is rod-shaped, and through holes are formed at both ends of the connecting arm. The through-hole cooperation on the through-hole of linking arm one end and the piston side piece to together linking arm and piston articulate, and there is the straight flute on the piston side piece, make the rotation of linking arm unhindered.
The base plate is provided with a hinged support, one end of the stretching arm is hinged on the hinged support, and the other end of the stretching arm is hinged on the side block of the hinged block.
The umbrella handle is fixed on the base plate through a flange.
As shown in fig. 14, the cleaning module further includes a third motor and a connecting shaft, the third motor is mounted on the frame body of the walking module, one end of the connecting shaft is connected to an output end of the third motor, and the other end of the connecting shaft is connected to the substrate. The connecting shaft can be a rigid coupler, and the output end of the third motor drives the substrate to rotate through the coupler, so that the cleaning module is driven to rotate integrally.
When the pipeline radius is changed from small to large, the feedback pressure of the pipeline wall to the brush is transmitted to the piston through the stretching arm and the connecting arm, and the feedback pressure is gradually reduced along with the increase of the pipeline radius, so that the elastic force of the first spring is greater than the feedback pressure, the first spring pushes the piston to be away from the boss of the umbrella handle (namely, the piston moves downwards in the figure 9), the stretching arm does stretching action until the brush is attached to the pipeline wall, and the feedback pressure is balanced with the elastic force of the first spring again.
When the pipeline radius diminishes from big to small, the feedback pressure of the pipeline wall to the brush is transmitted to the piston through the stretching arm and the connecting arm, and the feedback pressure gradually increases along with the diminishing of the pipeline radius, so that the elastic force of the first spring is smaller than the feedback pressure, the piston is close to the boss of the umbrella handle (namely, figure 9, the piston moves upwards) and extrudes the first spring, the stretching arm contracts until the pipeline radius does not change any more, the piston does not extrude the first spring any more, and the feedback pressure is balanced with the elastic force of the first spring once again.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (9)
1. A sectional type cleaning machines people for central air conditioning pipeline which characterized in that: comprises a propelling module, a walking module and a cleaning module; two ends of the propulsion module are provided with walking modules;
the walking module comprises a frame body, a bidirectional screw rod rotatably mounted in the frame body, a head nut screwed at one end of the bidirectional screw rod, a tail nut screwed at the other end of the bidirectional screw rod, and a plurality of groups of scissors-shaped supporting arm assemblies uniformly arranged along the circumferential direction; the scissors-shaped supporting arm assembly comprises a first supporting arm and a second supporting arm which are hinged with each other, one end of the first supporting arm is hinged to the head nut, the other end of the first supporting arm is contacted with the inner wall of the pipeline through an elastic ball, one end of the second supporting arm is hinged to the tail nut, and the other end of the second supporting arm is contacted with the inner wall of the pipeline through the elastic ball;
the cleaning module is arranged on the walking module and comprises an umbrella handle, a piston, a brush, a first spring, a base plate, a plurality of connecting arms and a plurality of stretching arms; a plurality of stretching arms which are distributed in an umbrella shape are hinged on the base plate, the umbrella handle is fixed on the base plate, a boss is arranged at the end part of the umbrella handle, a piston which moves along the axial direction of the umbrella handle is sleeved on the umbrella handle, a first spring sleeved on the umbrella handle is positioned between the boss and the piston, one end of a connecting arm is hinged on the piston, the other end of the connecting arm is hinged on the stretching arms, and a hairbrush is hinged at the end part of the stretching arms;
the walking module also comprises a plurality of groups of contact feedback assemblies and a second motor for driving the bidirectional screw to rotate, and the second motor is arranged on the frame body; a group of contact feedback assemblies are mounted at the end part of the first supporting arm and the end part of the second supporting arm; the contact feedback assembly comprises a storage box, an elastic ball, a pressure sensor and a box cover; the pressure sensor comprises a strip-shaped part and a ring part which are connected together, the pressure sensor is in signal connection with the second motor, the storage box is provided with a cavity, the ring part of the pressure sensor is arranged in the cavity of the storage box, an elastic ball for extruding the ring part of the pressure sensor is arranged in the cavity of the storage box, the box cover is fixed at the end part of the storage box, and one part of the elastic ball is exposed out of the box cover; the strip-shaped part of the pressure sensor of each group of contact feedback assemblies is arranged on the first supporting arm or the second supporting arm, and the storage box of each group of contact feedback assemblies is hinged on the first supporting arm or the second supporting arm.
2. The segmented cleaning robot for a central air conditioning duct of claim 1, wherein: the propelling module comprises a first motor, a one-way screw, a connecting frame, a driving nut arranged in the connecting frame, a first universal joint and a second universal joint; the driving nut is screwed on the one-way screw rod, one end of the first universal joint is connected to the frame body of one of the walking modules, the other end of the first universal joint is connected to the connecting frame, the first motor is installed on the frame body of the other walking module, one end of the second universal joint is connected to the one-way screw rod, and the other end of the second universal joint is connected to the output end of the first motor.
3. The segmented cleaning robot for a central air conditioning duct of claim 1, wherein: the frame body comprises a head flat plate, a tail flat plate and a connecting frame for connecting the head flat plate and the tail flat plate; the connecting frame is internally provided with a strip-shaped notch used for the scissors-shaped supporting arm assembly to open and close, and the first supporting arm and the second supporting arm which are hinged with each other penetrate through the strip-shaped notch.
4. The segmented cleaning robot for a central air conditioning duct of claim 1, wherein: the cleaning robot also comprises a plurality of groups of auxiliary supporting components which are uniformly arranged along the circumferential direction, wherein each auxiliary supporting component comprises a base block, a sleeve, an extension rod, a guide wheel seat and a second spring; the base block is fixed on a frame body of the walking module, an end plate is arranged at the end part of the sleeve and fixed on the base block, an end block is arranged at the end part of the extension rod, the guide wheel seat is fixed on the end block, the guide wheel is rotatably installed on the guide wheel seat, the second spring is sleeved on the sleeve, the extension rod is inserted into the sleeve, the sleeve end plate is located on one side of the second spring, and the end block of the extension rod is located on the other side of the second spring.
5. The segmented cleaning robot for central air conditioning ducts of claim 4, wherein: the circumference side of the extension rod is provided with a strip-shaped bulge, and the sleeve is internally provided with a through groove matched with the extension rod and the strip-shaped bulge.
6. The segmented cleaning robot for central air conditioning ducts of claim 4, wherein: the support body also comprises an auxiliary plate, the auxiliary plate is connected to the support body through a strip bolt, and the base block of the auxiliary supporting assembly is fixed on the auxiliary plate.
7. The segmented cleaning robot for a central air conditioning duct of claim 1, wherein: the cleaning module further comprises a third motor and a connecting shaft, the third motor is installed on the frame body of the walking module, one end of the connecting shaft is connected with the output end of the third motor, and the other end of the connecting shaft is connected with the substrate.
8. The segmented cleaning robot for a central air-conditioning duct according to claim 1, characterized in that: the piston comprises a cylinder, a circular table and a plurality of side blocks which are integrally manufactured; the circular truncated cone is arranged at the end of the cylinder, the side blocks are arranged on the circumferential side surface of the cylinder, the side blocks are uniformly distributed along the circumferential direction of the cylinder, and the side blocks are provided with through holes hinged with the connecting arms and straight grooves used for rotating the connecting arms.
9. The segmented cleaning robot for a central air conditioning duct of claim 1, wherein: the brush is hinged to the end of the stretching arm through the hinge block, the hinge block comprises a cylinder and a side block which are integrally made, the cylinder is fixedly sleeved on a brush shaft of the brush, the side block is arranged on the circumferential side face of the cylinder, and the side block is provided with a through hole hinged to the stretching arm and a straight groove used for the stretching arm to rotate.
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| CN201710639469.3A CN107355637B (en) | 2017-07-31 | 2017-07-31 | Sectional cleaning robot for central air-conditioning pipeline |
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| CN201710639469.3A CN107355637B (en) | 2017-07-31 | 2017-07-31 | Sectional cleaning robot for central air-conditioning pipeline |
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