CN107355637B - Sectional cleaning robot for central air-conditioning pipeline - Google Patents

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

Segmented cleaning robot for central air conditioning ducts

technical field

The invention relates to the technical field of cleaning in pipes, in particular to a segmented cleaning robot for central air-conditioning pipes.

Background technique

With the development of my country's economy and science and technology, more and more central air-conditioning is used. At present, for the cleaning of air-conditioning ventilation ducts, manual cleaning is dangerous, labor-intensive, low-efficiency, high-cost, and dusty. It is also extremely harmful to the human body. For some ventilation pipes with too small diameter, it is impossible to clean them artificially. Therefore, the central air-conditioning pipe cleaning robot is a new research direction and has a huge market prospect.

The pipeline robots that have been developed so far can be divided into seven types according to the different driving modes: medium pressure difference drive, wheel drive, crawling drive, abdominal wall drive, walking drive, peristaltic drive and spiral drive. The robot drives with the highest efficiency. The article "Design of Walking Robot in Pipeline" published in Volume 8, Issue 5, 2014 of "Experimental Technology and Management" discloses a wheeled pipeline robot. Design In order to further expand the scope of the robot's pipe diameter while ensuring the driving efficiency and stability of the wheeled pipeline robot, this paper proposes a scheme to introduce a serial double parallelogram mechanism into the wheel-leg structure of the robot. Due to the above-mentioned wheeled walking structure, there are obviously the following deficiencies: 1. It is impossible to climb vertical pipes; 2. It cannot adapt to curved pipes well; 3. For pipes with changing pipe diameters, it may make the robot The axis deviates from the axis of the pipe, resulting in poor contact with other contact parts.

Contents of the invention

Aiming at the technical problems in the prior art, the purpose of the present invention is to provide a segmented cleaning robot for central air-conditioning pipelines, which can walk in the pipelines and clean the inner walls of the pipelines.

In order to achieve the above object, the present invention adopts following technical scheme:

A segmented cleaning robot for central air-conditioning pipelines, including a propulsion module, a walking module, and a cleaning module; both ends of the propulsion module are equipped with a walking module;

The walking module includes a frame body, a two-way screw rod installed in the frame body in a rotatable manner, a head nut screwed on one end of the two-way screw rod, a tail nut screwed on the other end of the two-way screw rod, and multiple groups of scissor-shaped support arm components evenly arranged along the circumferential direction The scissors brace assembly includes a first brace and a second brace that are hinged to each other, one end of the first brace is hinged on the head nut, the other end of the first brace is in contact with the inner wall of the pipe through an elastic ball, and the second One end of the support arm is hinged on the end nut, and the other end of the second support arm is in contact with the inner wall of the pipe through an elastic ball;

The cleaning module is installed on the walking module. 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 opening arms; The handle is fixed on the base plate, the end of the umbrella handle is provided with a boss, the piston moving axially along the umbrella handle is set on the umbrella handle, the first spring set on the umbrella handle is located between the boss and the piston, and the connecting arm One end of the connecting arm is hinged on the piston, the other end of the connecting arm is hinged on the opening arm, and the brush is hinged on the end of the opening arm.

Further, the propulsion module includes a first motor, a one-way screw, a connecting frame, a driving nut arranged inside the connecting frame, a first universal joint, and a second universal joint; the driving nut is screwed on the one-way screw, and the first One end of the universal joint is connected to the frame 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 of the other walking module, and the second universal joint One end is connected to the one-way screw, and the other end of the second universal joint is connected to the output end of the first motor. The propulsion module can drive the walking module at the upper end and the walking module at the lower end to advance sequentially.

Further, the frame body includes a head plate, a tail plate, and a connecting frame connecting the head plate and the tail plate; the connecting frame is provided with strip-shaped notches for opening and closing movements of the scissor-like support arm components, and are hinged to each other The first support arm and the second support arm pass through the strip notch. The overall structure of the frame body is simple, and the strip-shaped notch can prevent the first support arm and the second support arm from shaking, so that the first support arm and the second support arm can only rotate up and down.

Further, the walking module also includes multiple sets of contact feedback components and a second motor for driving the two-way screw to rotate, and the second motor is installed on the frame body; the ends of the first support arm and the end of the second support arm are both A group of contact feedback components are installed; the contact feedback components include a storage box, an elastic ball, a pressure sensor, and a box cover; the pressure sensor includes a strip part and a ring part connected together, and the pressure sensor is connected with the signal of the second motor, and the storage box is set There is a cavity, the ring part of the pressure sensor is placed in the cavity of the storage box, the elastic ball used to squeeze the ring part of the pressure sensor is placed in the cavity of the storage box, the cover is fixed on the end of the storage box, elastic A part of the ball is exposed from the box cover; the strip part of the pressure sensor of each group of contact feedback components is installed on the first support arm or the second support arm, and the storage box of each group of contact feedback components is hinged on the first support arm or the second support arm. On the second support arm. The pressure sensor can feed back a corresponding signal, and the feedback signal is finally used to control the second motor, and then the second motor finally drives the scissors brace assembly to keep loosening or to keep expanding. The elastic ball is in contact with the inner wall of the pipeline. Meanwhile, the storage box is hinged on the support arm, and the storage box can rotate within a certain range, which is easier to adapt to the situation in the pipeline.

Further, the cleaning robot also includes multiple sets of auxiliary support assemblies evenly arranged along the circumferential direction. The auxiliary support assemblies include base blocks, sleeves, extension rods, guide wheels, guide wheel seats, and second springs; the base blocks are fixed on the walking On the frame body of the module, the end of the sleeve is provided with an end plate, the end plate is fixed on the base block, the end of the extension rod is provided with an end block, the guide wheel seat is fixed on the end block, and the guide wheel is rotatably installed on the 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 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 support component ensures the stability of the axis of the cleaning robot and keeps the entire cleaning robot from shaking in the pipeline.

Further, strip-shaped protrusions are provided on the circumferential side of the extension rod, and through grooves corresponding to the extension rod and the strip-shaped protrusions are provided in the sleeve. The strip protrusion prevents the relative rotation of the extension rod and the sleeve, so that the extension rod can only move back and forth in a straight line in the through groove of the sleeve.

Further, the frame body also includes an auxiliary board, the auxiliary board is connected to the frame body through strip bolts, and the base block of the auxiliary support assembly is fixed on the auxiliary board. The auxiliary board can be used to install corresponding motors, auxiliary support components and other electrical equipment.

Further, the cleaning module further includes a third motor and a connecting shaft, the third motor is installed on the frame of the walking module, one end of the connecting shaft is connected to the output end of the third motor, and the other end of the connecting shaft is connected to the base plate. The third motor can drive the whole cleaning module to rotate through the connecting shaft.

Further, the piston includes an integrated cylinder, a circular platform, and a plurality of side blocks; the circular platform is arranged at the end of the cylinder, the side blocks are arranged on the circumferential side of the cylinder, and the plurality of side blocks are arranged along the circumference of the cylinder. The directions are evenly distributed, and the side block is provided with a through hole hinged with the connecting arm and a straight slot for the connecting arm to rotate. The structure of the piston enables the articulation of the connecting arm and the rotation of the connecting arm

Further, the brush is hinged on the end of the boom through a hinge block, the hinge block includes a cylinder and a side block made in one piece, the cylinder is fixedly set on the brush shaft of the hair brush, and the side block is arranged on the cylinder On the side of the circumference, the side block is provided with a through hole hinged with the arm and a straight groove for the arm to rotate. The structure of the hinged block can realize the hinged joint and relative rotation of the boom and the connecting block.

Generally speaking, the present invention has following advantages:

1. The cleaning module can automatically adapt to the change of the pipe radius, without manual replacement of brushes of different sizes.

2. There is no dead point in the cleaning module, and there will be no failure of the variable diameter function during the working process.

3. It can ensure that the brush is always close to the pipe wall.

4. The cleaning module can adapt to the environment of curved pipes and parallel straight pipes.

5. The brush is not permanently fixed. After a period of use, the brush will be damaged due to friction. At this time, the brush is removed from the hinge block, and the cleaning effect can be improved by replacing the brush, which is convenient and efficient.

6. The cleaning robot can walk in the pipeline, which can be horizontal straight pipe, horizontal curved pipe, horizontal variable-diameter straight pipe, non-horizontal straight pipe, non-horizontal curved pipe, non-horizontal variable-diameter straight pipe, etc., and can adapt to the change of pipeline radius Happening. It can stably move in a circular pipe at any angle to the ground, and at the same time adapt to the change of pipe diameter within a certain range, which has strong adaptability to the working environment.

Description of drawings

Fig. 1 is a schematic structural diagram of a cleaning robot, without a cleaning module.

Fig. 2 is a schematic structural diagram of the walking module.

Fig. 3 is a structural schematic diagram of the touch feedback assembly and the first support arm or the second support arm.

Fig. 4 is a schematic structural view of the auxiliary support assembly.

Fig. 5 is a schematic structural view of the sleeve and the end plate.

Fig. 6 is a structural schematic diagram of the extension rod and the end block.

Fig. 7 is a structural schematic diagram of a propulsion module.

Fig. 8 is a front view of the cleaning module.

Fig. 9 is a perspective view of a cleaning module.

Fig. 10 is a schematic diagram of the structure of the piston.

Fig. 11 is a schematic diagram of the structure of the tension arm.

Fig. 12 is a structural schematic diagram of the connecting arm.

Fig. 13 is a schematic structural view of the hinge block.

Fig. 14 is a schematic structural diagram of a cleaning robot.

Among them, 1 is the walking module, 2 is the propulsion module, 3 is the auxiliary support component, 4 is the cleaning module, 1-1 is the contact feedback component, 1-2 is the second support arm, 1-3 is the first support arm, 1 -4 is the head plate of the frame body, 1-5 is the tail plate of the frame body, 1-6 is the connecting frame of the frame body, 1-7 is the strip notch, 1-8 is the head nut, 1-9 is the End nut, 1-10 is a two-way screw, 1-11 is an auxiliary plate, 1-12 is a strip 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 the ring part of the pressure sensor, 1-1-5 is the strip part of the pressure sensor, 1-1-6 is the escape notch, 1-1-7 is the cavity of the storage box , 2-1 is the second universal joint, 2-2 is the one-way screw, 2-3 is the driving nut, 2-4 is the connecting frame, 2-5 is the first universal joint, 3-1 is the base block, 3-2 is the sleeve, 3-3 is the end plate, 3-4 is the second spring, 3-5 is the extension rod, 3-6 is the end block, 3-7 is the guide wheel seat, 3-8 is the guide wheel , 3-9 is the through groove in the sleeve, 3-10 is the strip-shaped protrusion, 4-1 is the umbrella handle, 4-2 is the piston, 4-3 is the connecting arm, 4-4 is the opening arm, 4- 5 is a hinge support, 4-6 is a flange, 4-7 is a hinge block, 4-8 is a hair brush, 4-9 is a first spring, 4-10 is a base plate, and 4-11 is a protrusion on the umbrella handle. 4-12 is the cylinder of the piston, 4-13 is the round table of the piston, 4-14 is the side block of the piston, 4-15 is the through hole on the side block of the piston, and 4-16 is a straight hole on the side block of the piston. Slot, 4-17 is the through hole on the stretch arm, 4-18 is the rectangular through groove in the stretch arm, 4-19 is the through hole on the connecting arm, 4-20 is the cylinder of the hinge block, and 4-21 is the The side block of hinge block, 4-22 is the through hole on the hinge block side block, and 4-23 is the straight groove on the hinge block side block, and 4-24 is connecting shaft.

Detailed ways

The present invention will be further described in detail in conjunction with the accompanying drawings and specific embodiments.

As shown in Figures 1 to 7, the segmented cleaning robot used for central air-conditioning pipelines includes a propulsion module, a walking module, and a cleaning module; this embodiment first introduces the propulsion module and the walking module, and then makes an introduction to the cleaning module introduce. Both ends of the propulsion module are provided with walking modules, that is, one walking module is installed at one end of the propulsion module, and the other walking module is installed at the other end of the propulsion module. The walking module includes a frame body, a two-way screw rod, a head nut, a tail nut, and multiple sets of scissor-like bracing arm components. The two-way screw is rotatably installed inside the frame body. The two-way screw is located at the center of the frame. Both the head nut and the tail nut are threaded with the two-way screw. The head nut is screwed on one end of the two-way screw (the upper end of the two-way screw in Figure 1) , the tail nut is screwed on the other end of the two-way screw rod (the lower end of the two-way screw rod in Fig. 1), and multiple groups of scissor-like brace assemblies are evenly arranged along the circumferential direction. In the present invention, there are 3 groups of scissor-like brace assemblies, and 3 groups of shear The shape support arm assembly is evenly arranged along the circumferential direction with the two-way screw as the central axis. The scissor brace assembly includes a first brace and a second brace that are hinged to each other, one end of the first brace is hinged on the head nut, the other end of the first brace is in contact with the inner wall of the pipe through an elastic ball, and the second brace One end of the arm is hinged on the end nut, and the other end of the second support arm is in contact with the inner wall of the pipe through an elastic ball; as shown in Figure 2, the first support arm and the second support arm are hinged together like scissors, and the first support arm The upper end of the arm is hinged on the head nut, and the lower end of the second support arm is hinged on the tail nut. Both the lower end of the first support arm and the upper end of the second support arm are provided with a contact feedback assembly, and the contact feedback assembly includes an elastic ball. Both the lower end of the first support arm and the upper end of the second support arm are in contact with the inner wall of the pipe through elastic balls.

As shown in FIG. 7 , the propulsion module includes a first motor, a one-way screw, a connecting frame, a driving nut arranged inside the connecting frame, a first universal joint, and a second universal joint. The drive nut is screwed on the one-way screw, and the drive nut and the one-way screw are threadedly matched. When the one-way screw rotates, the drive nut can move along the axial direction of the one-way screw, that is, in FIG. 7, the drive nut can move up and down. One end of the first universal joint is connected to the frame 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 of the other walking module, and the second universal joint One end of the joint is connected to the one-way screw, and the other end of the second universal joint is connected to the output end of the first motor; as shown in Figure 7, the lower end of the first universal joint is connected to the frame of the lower walking module Above, the upper end of the first universal joint is connected to the connecting frame, the first motor is installed on the upper frame of the walking module, the lower end of the second universal joint is connected to the one-way screw, and the upper end of the second universal joint Connect with the output terminal of the first motor. The first motor selects a stepper motor, and the technology that the first motor controls the rotation of the unidirectional screw belongs to the prior art. The unidirectional screw is a multi-threaded thread. Under the premise of ensuring that the output torque is satisfied, a motor with a larger rotation speed adjustment range is selected. The distance that the drive nut moves on the one-way screw rod is large, which reduces the working time of the push module.

The walking module also includes a second motor for driving the two-way screw to rotate, and the second motor is installed on the frame. When the second motor rotates forward or reversely, the head nut and the tail nut can be driven away from each other or close to each other. The technology that the second motor controls the rotation of the two-way screw belongs to the prior art.

As shown in FIG. 2 and FIG. 3 , the walking module also includes multiple sets of touch feedback components, and a set of touch feedback components are installed on the end (lower end) of the first support arm and the end (upper end) of the second support arm. The touch feedback component includes a storage box, an elastic ball, a pressure sensor, and a box cover. The pressure sensor includes a strip part and an annular part connected together, and the pressure sensor is connected with the second motor signal. The storage box is generally in the shape of a cube, and the storage box is provided with a cavity. The ring part of the pressure sensor is placed in the cavity of the storage box, and the elastic ball used to squeeze the ring part of the pressure sensor is placed in the cavity of the storage box. That is, first place the ring part of the pressure sensor in the cavity of the storage box, then press the elastic ball against the ring part of the pressure sensor, and place the two together in the cavity of the storage box, and fix the cover on the end of the storage box The box cover is provided with a round hole, and a part of the elastic ball is exposed from the box cover. The strip part of the pressure sensor of each group of contact feedback components is installed on the first support arm or the second support arm, and the receiving box of each group of contact feedback components is hinged on the first support arm or the second support arm; the first The support arm and the second support arm are collectively referred to as the support arm, that is, the strip part of the pressure sensor is installed on the support arm, and the storage box is hinged at the end of the support arm, so that the storage box can rotate around the support arm within a certain range, and the support arm The smaller the size of the arm, the greater the range in which the organizer can turn.

There is an escape notch on the side of the storage box, and the escape notch and the cavity can be connected. When the ring part of the pressure sensor is closed, the junction of the ring part and the bar-shaped part, and the bar-shaped part will not touch the outer contour of the storage box, thereby protecting the pressure sensor.

As shown in FIG. 1 and FIG. 4 , the cleaning robot also includes multiple sets of auxiliary support assemblies installed on the frame body, and multiple sets of auxiliary support assemblies are uniformly arranged along the circumferential direction on the frame body. The auxiliary support assembly includes a base block, a sleeve, an extension rod, a guide wheel, a guide wheel seat and a second spring. The base block is an L-shaped steel. The base block is fixed on the frame of the walking module. The end of the sleeve is provided with an end plate. The end plate and the sleeve are in a fixed relationship. The end plate is fixed on the base block. The end of the extension rod There is an end block, the end block and the extension rod are in a fixed relationship, 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 set on the sleeve, and the extension rod is inserted into the sleeve. Inside, the end plate of the sleeve is located on one side of the second spring, the end block of the extension rod is located on the other side of the second spring, one end of the second spring can be connected to the end plate, and the other end of the second spring can be connected to the on the end block.

As shown in Figure 5 and Figure 6, the circumferential side of the extension rod is provided with strip-shaped protrusions, which extend along the axial direction of the extension rod, and the sleeve is equipped with through the slot. The extension rod and the strip-shaped protrusion are inserted into the through groove inside the sleeve together. When the extension rod moves back and forth in the through groove inside the sleeve, the strip-shaped protrusion can prevent rotation and prevent the extension rod and the sleeve from colliding. Relatively rotate, so that the extension rod can only move back and forth in a straight line in the through groove of the sleeve.

The frame body includes a head plate, a tail plate, and a connection frame connecting the head plate and the tail plate. The upper end of the connection frame is fixed to the head plate, and the lower end of the connection frame is fixed to the tail plate. The connection frame is provided with a strip notch for the opening and closing of the scissors-like support arm assembly, and the first support arm and the The second support arm passes through the strip-shaped notch. The strip-shaped notch is rectangular, and the strip-shaped notch can also play the role of limiting. When the first support arm and the second support arm are opened or closed, it can prevent the first support arm or the second support arm from shaking, and at the same time The first support arm, the second support arm and the connecting frame can be hinged together, and the first support arm and the second support arm can only rotate up and down.

As shown in Figure 1, the frame body also includes an auxiliary plate, which is connected to the frame body through strip bolts, and the auxiliary plate can be connected to the head plate or tail plate through strip bolts, if more auxiliary plates are needed plate, then the second auxiliary plate is connected to the first auxiliary plate through strip bolts, and the base block of the auxiliary support assembly is fixed on the auxiliary plate. The auxiliary support assembly, the first motor and the second motor can be installed on a suitable auxiliary board, head board or tail board, and the first motor and the second motor are not marked in the figure. The two ends of the propulsion module can also be respectively connected to corresponding auxiliary boards.

The walking principle of the cleaning robot: the working condition of the cleaning robot walking in the pipeline is that the structures of the upper and lower walking modules are all relaxed as the initial state, firstly control the second motor of the upper walking module to rotate forward, and drive the two-way screw to rotate, so that the head The nut and the end nut are far away from each other, so that the scissor arm assembly of the upper walking module continues to expand, and the elastic ball continues to squeeze the inner wall of the pipe until the second motor stops rotating after receiving the feedback signal from the pressure sensor. At this time, the elastic ball The ball squeezes the inner wall of the pipeline, and fixes the entire walking module at the upper end, that is, the entire walking module at the upper end is in a tensioned state. Then the first motor rotates forward, the first motor drives the one-way screw to rotate forward through the second universal joint, and then impels the drive nut to advance together with the connecting frame (moving toward the upper end of the walking module), and then drives the lower end of the whole walking module to Before the movement, when the first motor reaches the designed number of turns threshold, it stops rotating. Then, the second motor of the lower walking module is controlled to rotate forward, driving the two-way screw to rotate, so that the head nut and the tail nut are far away from each other, and then the scissor-shaped support arm assembly of the lower walking module continues to open, and the elastic ball continues to squeeze the pipe. Inner wall, until receiving the feedback signal from the pressure sensor, the second motor stops rotating. At this time, the elastic ball squeezes the inner wall of the pipeline to fix the entire walking module at the lower end, that is, the entire walking module at the lower end is in a tensioned state. Then, the second motor that controls the upper end walking module is reversed, so that the scissors brace arm assembly is continuously locked (closed), until the pressure sensor feedback pressure signal is 0 (considered to have been completely relaxed). Then, the first motor reverses, and the first motor drives the one-way screw to reversely rotate through the second universal joint, and then lifts the upper end walking module to advance. Reciprocate in this way to complete the walking task of the cleaning robot in the pipeline.

The auxiliary support assembly plays the role of auxiliary support when the scissor support arm assembly relaxes (loses the main support), so as to ensure the stability of the axis of the cleaning robot. When the guide wheel is not in contact with the inner wall of the pipeline, the second spring pushes the extension rod so that the end block is away from the end plate, so that the guide wheel contacts the inner wall of the pipeline again, keeping the whole cleaning robot from shaking in the pipeline.

The cleaning robot walks in pipelines, which can be horizontal straight pipes, horizontal curved pipes, horizontal variable-diameter straight pipes, non-horizontal straight pipes, non-horizontal curved pipes, non-horizontal variable-diameter straight pipes and other pipelines.

The following is a detailed introduction to the cleaning module:

As shown in FIG. 8 to FIG. 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 extension arms. Multiple arms distributed in an umbrella shape are hinged on the base plate, that is, multiple arms are evenly distributed along the circumferential direction, the umbrella handle is at the center of all arms, and all arms can rotate around the base plate to achieve opening or condensation. One end of the umbrella handle is fixed on the base plate, and the end of the umbrella handle (the other end of the umbrella handle) is provided with a boss. It can be set on the umbrella handle and can move along the axial direction of the umbrella handle. The first spring sleeved on the umbrella handle is located 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 platform 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 opening arm, and the brush is hinged on the end of the opening arm.

As shown in FIG. 10 , regarding the structure of the piston: the piston includes a cylinder, a round table, and multiple side blocks made in one piece, that is, the cylinder, the round table and the side blocks are integral and integrally formed. The round platform is arranged at the end of the cylinder, and the side blocks are arranged on the circumferential side of the cylinder. A plurality of side blocks are evenly distributed along the circumferential direction of the cylinder. The side blocks are provided with through holes hinged with the connecting arm and used for connecting The straight groove for arm rotation, the through hole on the side block and the straight groove perpendicularly intersect, there are 3 side blocks on the piston in total, correspondingly, the number of opening arms and connecting arms is also 3; the piston cylinder and the round platform sleeve On the umbrella handle, and can move on the umbrella handle.

As shown in Figure 13, the brush is hinged at the end of the boom through the hinge block. For the structure of the hinge block: the hinge block includes a cylinder and side blocks made in one piece, and the cylinder is fixedly sleeved on the brush shaft of the brush Above, the cylinder and the brush shaft are in a fixed relationship. The cylinder and the brush shaft can be fixed by means of pins or bolts. On the circumferential side of the cylinder, the side block is provided with a through hole hinged with the opening arm and a straight groove for the opening arm to rotate.

As shown in Figure 11, the stretching arm is rod-shaped, with through holes at both ends of the stretching arm, a rectangular through slot inside the stretching arm, and one end of the connecting arm located in the rectangular through slot and hinged on the stretching arm. There is a rectangular through slot in the opening arm, so that the rotation of the connecting arm is not hindered.

As shown in FIG. 12 , the connecting arm is in the shape of a rod, and two ends of the connecting arm are provided with through holes. The through hole at one end of the connecting arm cooperates with the through hole on the side block of the piston, so that the connecting arm and the piston are hinged together, and there is a straight groove on the side block of the piston, so that the rotation of the connecting arm is not hindered.

A hinge support is arranged on the base plate, one end of the opening arm is hinged on the hinge support, and the other end of the opening arm is hinged on the side block of the hinge block.

The umbrella handle is fixed on the base plate through the flange.

As shown in Figure 14, the cleaning module also includes a third motor and a connecting shaft, the third motor is installed on the frame of the walking module, one end of the connecting shaft is connected to the output end of the third motor, and the other end of the connecting shaft is connected to the substrate . A rigid coupling can be selected for the connecting shaft, and the output end of the third motor drives the base plate to rotate through the coupling, thereby driving the overall rotation of the cleaning module.

When the pipe radius increases from small to large, the feedback pressure of the pipe wall to the brush is transmitted to the piston through the stretching arm and the connecting arm. Since the feedback pressure gradually decreases as the pipe radius increases, the elasticity of the first spring If the force is greater than the feedback stress, the first spring pushes the piston away from the boss of the umbrella handle (that is, as shown in Figure 9, the piston moves downward), and then the arm does the opening action until the brush is close to the pipe wall, so that the feedback pressure is in line with the pipe wall again. The elastic force of the first spring is balanced.

When the pipe radius decreases from large to small, the feedback pressure of the pipe wall to the brush is transmitted to the piston through the stretching arm and the connecting arm. Since the feedback pressure gradually increases as the pipe radius becomes smaller, the elastic force of the first spring If it is less than the feedback stress, make the piston close to the boss of the umbrella handle (as shown in Figure 9, the piston moves upward) and squeeze the first spring, then the arm will shrink until the radius of the pipe does not change, and the piston no longer squeezes the first spring. A spring to balance the feedback pressure again with the elastic force of the first spring.

The above-mentioned embodiment is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above-mentioned embodiment, and any other changes, modifications, substitutions, combinations, Simplifications should be equivalent replacement methods, and all are included in the protection 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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