CN108160634A - Pipeline cleaning robot - Google Patents
Pipeline cleaning robot Download PDFInfo
- Publication number
- CN108160634A CN108160634A CN201810058987.0A CN201810058987A CN108160634A CN 108160634 A CN108160634 A CN 108160634A CN 201810058987 A CN201810058987 A CN 201810058987A CN 108160634 A CN108160634 A CN 108160634A
- Authority
- CN
- China
- Prior art keywords
- cleaning
- pedestal
- module
- sleeve
- pipeline
- 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.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 96
- 230000005540 biological transmission Effects 0.000 claims abstract description 42
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 230000033001 locomotion Effects 0.000 claims abstract description 24
- 230000009184 walking Effects 0.000 claims abstract description 19
- 238000004891 communication Methods 0.000 claims description 8
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims description 2
- 239000000758 substrate Substances 0.000 description 6
- 238000004378 air conditioning Methods 0.000 description 5
- 230000003044 adaptive effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 241000589248 Legionella Species 0.000 description 1
- 208000007764 Legionnaires' Disease Diseases 0.000 description 1
- 241000239292 Theraphosidae Species 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000011086 high cleaning Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of pipeline cleaning robots, it includes supporting mechanism, walking mechanism and wiper mechanism, supporting mechanism includes pedestal and the top bracing plate| of pedestal upper surface is installed on by support column, and walking mechanism includes traveling wheel, transmission device, power plant and position regulator；Traveling wheel is mounted on transmission device；Position regulator includes the supporting rod being installed on pedestal, and movable sleeve is equipped with Telescopic spring and sliding sleeve, the locating part that the restricted sliding sleeve of supporting rod end set slips away to supporting rod successively from the bottom to top；The connecting rod being rotatablely connected on sliding sleeve is rotatably connected with installing the drive link of traveling wheel；Wiper mechanism includes the power part mounted on pedestal lower surface, the output shaft of power part and a cleaning axis connection, cleans on axis and is fixedly connected with axle sleeve；At least a motion bar, the free end of motion bar are rotatably connected on axle sleeve and is connected with cleaning brush；The spacing adjusting device of spacing between adjustment motion bar and cleaning rod is provided between cleaning axis and motion bar.
Description
Technical field
The present invention relates to the cleaning devices of Cleaning pipes, and in particular to a kind of pipeline cleaning robot.
Background technology
Since the 1970s, the industries such as oil, chemical industry, natural gas and nuclear industry rapidly develop, various pipeline conducts
A kind of important material conveying facility, is widely applied.But they often set up in the air or underground, formation are intricate
Pipe network.The space of pipeline, the limitation of road conditions, light and working environment, people are difficult to be directly involved, and make manually to overhaul not
It is only difficult and of high cost.Thus pipe robot comes into being, people is helped to solve the above problem well.
In some developed countries, Status of air duct cleaning service has the development course of decades, for air quality to people
The harm of body health, the external common people and more deep understanding, the Legionella great outburst in the Philadelphia of the U.S. in 1976 are subsequent to assert
Its infection sources is exactly the central air-conditioning in the city meeting-place.External health organ has put into effect more strict central air-conditioning in succession to be made
With and cleaning regulation.Developed country has set up wind pipe of central air-conditioning cleaning association at present, such as：International ventilated sanitary appraisal meeting,
Air duct cleaning association of the U.S., European air duct cleaning association etc., the air duct cleaning of external central air conditioning formd one it is huge
Big industry.Status of air duct cleaning company of the country is only several at present, and its clear equipment relies primarily on import, cost of equipment
It is high.Although current people have gradually recognized the importance of central air-conditioning blast pipe cleaning, high cleaning expense makes one
Hang back.
Invention content
For above-mentioned deficiency of the prior art, pipeline cleaning robot provided by the invention can be according to the diameter of pipeline
Its full-size of adjust automatically is to be adapted to a variety of various sizes of pipelines.
In order to reach foregoing invention purpose, the technical solution adopted by the present invention is：
A kind of pipeline cleaning robot is provided, including supporting mechanism, walking mechanism and wiper mechanism, supporting mechanism includes
Pedestal and the top bracing plate| that pedestal upper surface is installed on by an at least support column, walking mechanism include at least two traveling wheels,
At least two transmission devices and the power plant being arranged on pedestal and at least two position regulators；
Output shaft one end of power plant is connect across top bracing plate| with the transmission device being set on top bracing plate|, traveling wheel peace
On transmission device；Position regulator includes being installed on supporting rod on pedestal, supporting rod movable sleeve successively from the bottom to top
Equipped with Telescopic spring and sliding sleeve, locating part that the restricted sliding sleeve of supporting rod end set slips away；The connecting rod that is rotatablely connected on sliding sleeve with
The drive link rotatable connection of traveling wheel is installed；
Wiper mechanism includes the power part mounted on pedestal lower surface, the output shaft of power part and a cleaning axis connection, clearly
It washes and axle sleeve is fixedly connected on axis；An at least motion bar is rotatably connected on axle sleeve, the free end of motion bar is connected with cleaning
Brush；The spacing adjusting device of spacing between adjustment motion bar and cleaning rod is provided between cleaning axis and motion bar.
Further, transmission device includes at least two pieces of support plates and is installed on the drive bevel gear of output shaft end, branch
Fagging is equally spacedly mounted on top bracing plate|, is provided with rotatable relative transmission shaft in support plate, activity in each support plate
Two pieces of link blocks diagonally downward are installed；
Drive bevel gear coordinates with the driven wheel of differential on transmission shaft, and more are rotatably connected on two pieces of link blocks of pairing
Drive link with transmission gear, two neighboring transmission gear intermeshing；It is provided with and passes on the drive link of neighbouring support plate
The drive bevel gear of driven wheel of differential engagement on moving axis, traveling wheel are installed on the drive link far from support plate.
Further, spacing adjusting device includes the cleaning fixed elongated limiting section in axis lower end, is covered on limiting section
With sliding sleeve and clean the limit spring of axis connection equipped with sliding sleeve and respectively.
Further, locating part includes being set to the screw thread of the support boom end far from pedestal and is limited with thread fitting and slided
Cover the nut to slip away.
Further, pipeline cleaning robot further includes at least two auxiliary walkings for being set in qually spaced in pedestal outer surface
Device, auxiliary walking device include connecting rod, and sliding shaft sleeve and spring that opposite connecting rod is slided are arranged in connecting rod；Connection
Both ends of the spring on bar is connect respectively with pedestal and sliding shaft sleeve, and rotating wheel is rotatably connected on sliding shaft sleeve.
Further, the lower surface of pedestal is provided with supporting rack, and the output shaft of power part passes through supporting rack to connect with cleaning axis
It connects.
Further, pipeline cleaning robot further includes robot control terminal, robot control terminal include control module and
The pressure sensor and power module being connect respectively with control module；Pressure sensor is set on cleaning brush, power plant and
Power part is connect by power module with control module.
Further, pipeline cleaning robot further includes hand-held control terminal, hold control terminal include Master control chip and with
Power module, input module, display screen, the radio receiving transmitting module of Master control chip connection；
Robot control terminal further includes the headlamp being connect with control module, image capture module and wireless communication module；
Image capture module and headlamp may be contained within the front end of pipeline cleaning robot；Master control chip by radio receiving transmitting module,
Wireless communication module communicates with control module.
Further, robot control terminal further includes the temperature sensor and humidity sensor being connect with control module.
Further, when spacing adjusting device includes limiting section, limiting section is the electric expansion being connect with control module
Bar.
The pipeline cleaning robot that this programme provides has the beneficial effect that：
(1) pipeline cleaning robot first adjusts itself posture when entering pipeline operations, and traveling wheel is made firmly to be attached to pipe
On wall, when pipe diameter increases or reduces, can pipe be passed through by the mutual cooperation of the spring and sliding sleeve of position regulator
Wall compressed spring or spring restore deformation, traveling wheel are made firmly to be attached on tube wall again, the setting of position regulator, can be with
Position without interferingly adjustment driving wheel when enabling pipeline cleaning robot excessively curved or encountering tapered pipeline passes through bend and oneself
Main transformer diameter, and possess good driveability.
(2) cleaning brush of wiper mechanism can adapt to different caliber changes, spacing by the spacing adjusting device of setting
Regulating device makes wiper mechanism form umbrella open/close mechanism, in the output shaft rotation of power part, is capable of the one of complete twin conduit
Secondary 360 ° of cleanings of property；
When after pressure sensor is set on cleaning brush, pressure that can be between real-time perception cleaning brush and tube wall, and will
Pressure feedback controls the rotary speed of cleaning brush to control module, it is ensured that tube wall can be cleaned thoroughly；Pressure sensor combines electricity
Dynamic telescopic rod, can be such that cleaning brush is fitted closely always with tube wall, it is ensured that rotating a circle can be to corresponding tube wall all sites one
Secondary cleaning.
(3) set image capture module after, can by the image information in the pipeline of feedback estimate robot relative to
The coordinate and pipe radius of pipeline, then by pipeline internal environment carry out multi-parameter, high emulation reality simulation, on a display screen
Display pipes grieshoch accumulates situation and breakage, and operator carries out the scheduling of operation in pipeline according to relevant information
And the manipulation of robot.
(4) holding control terminal can be by the working environment of image monitoring robot in the pipeline of acquisition, and passes through display
Screen is shown that operating personnel can control the advance of robot using hand-held control terminal according to the image of reception, retreat and turn
It is curved to wait operation.
Description of the drawings
Fig. 1 is the stereogram of pipeline cleaning robot.
Fig. 2 is the side view of pipeline cleaning robot.
Fig. 3 is the front view of pipeline cleaning robot.
Fig. 4 is the vertical view of pipeline cleaning robot.
Wherein, 1, wiper mechanism；11st, power part；12nd, supporting rack；13rd, axis is cleaned；14th, axle sleeve；15th, motion bar；16th, it is clear
It scrubs；17th, spacing adjusting device；171st, limiting section；172nd, sliding sleeve；173rd, limit spring；2nd, auxiliary walking device；21st, even
Extension bar；22nd, sliding shaft sleeve；23rd, spring；24th, rotating wheel；3rd, supporting mechanism；31st, pedestal；311st, substrate；312nd, cover；32nd, it props up
Dagger；33rd, top bracing plate|；
4th, position regulator；41st, supporting rod；42nd, Telescopic spring；43rd, sliding sleeve；44th, locating part；441st, screw thread；442nd, spiral shell
It is female；45th, connecting rod；451st, link；5th, transmission device；51st, support plate；52nd, drive bevel gear；53rd, transmission shaft；54th, link block；
55th, driven wheel of differential；56th, drive link；57th, drive bevel gear；58th, transmission gear；6th, traveling wheel；7th, power plant.
Specific embodiment
The specific embodiment of the present invention is described below, in order to facilitate understanding by those skilled in the art this hair
It is bright, it should be apparent that the present invention is not limited to the range of specific embodiment, for those skilled in the art,
As long as various change in the spirit and scope of the present invention that appended claim limits and determines, these variations are aobvious and easy
See, all are using the innovation and creation of present inventive concept in the row of protection.
With reference to figure 1, Fig. 1 shows the stereogram of pipeline cleaning robot；As shown in Figure 1, the pipeline cleaning robot packet
Include supporting mechanism 3, walking mechanism and wiper mechanism 1.
Wherein, supporting mechanism 3 includes pedestal 31 and the top of 31 upper surface of pedestal is installed on by an at least support column 32
Fagging 33, pedestal 31 are made of the substrate 311 and cover 312 being connected as one, and the diameter of substrate 311 is less than the straight of cover 312
Diameter.
In order to ensure the stability for the component being mounted on top bracing plate| 33, this programme is preferably in the same periphery of pedestal 31
On two support columns 32 are at least equidistantly installed, but the quantity of support column 32 is more, and stability is better.
As shown in Figures 1 to 4, walking mechanism includes at least two traveling wheels 6, at least two transmission devices 5 and is arranged on
7 and at least two position regulator 4 of power plant on pedestal 31.Power plant 7 is motor, can also select frequency conversion
Motor.
As shown in Figure 1 to Figure 3, output shaft one end of power plant 7 passes through top bracing plate| 33 and is set on top bracing plate| 33
Transmission device 5 connects, and traveling wheel 6 is mounted on transmission device 5；When walking, the power that power plant 7 is exported passes for robot
Transmission device 5 is passed, transmission device 5 drives traveling wheel 6 to rotate again, to realize the movement of robot.
Shown as shown in Figure 1, Figure 3 and Figure 4, in one embodiment of the invention, transmission device 5 includes at least two pieces of support plates
51 and the drive bevel gear 52 of output shaft end is installed on, support plate 51 is equally spacedly mounted on top bracing plate| 33, support plate 51
On be provided with rotatable relative transmission shaft 53, two pieces of link blocks 54 diagonally downward are movably installed in each support plate 51；
Drive bevel gear 52 coordinates with the driven wheel of differential 55 on transmission shaft 53, the company of rotation on two pieces of link blocks 54 of pairing
The more drive links 56 with transmission gear 58 are connected to, two neighboring transmission gear 58 is intermeshed；The biography of neighbouring support plate 51
The drive bevel gear 57 engaged with the driven wheel of differential 55 on transmission shaft 53 is provided in lever 56, traveling wheel 6 is installed on separate
On the drive link 56 of support plate 51.
Wherein, transmission shaft 53 and drive link 56 are mounted on by bearing in corresponding support plate 51 or link block 54；When
Support plate 51 setting there are two when, can only set a transmission shaft 53, in this way set after, with drive bevel gear 52 cooperation from
Dynamic bevel gear 55 is equipped in the middle part of transmission shaft 53, and the driven wheel of differential 55 engaged with drive bevel gear 57 is respectively arranged at
The both ends of transmission shaft 53.
When support plate 51 at least sets three, the quantity of transmission shaft 53 is equal with the quantity of support plate 51, at this point, every
The both ends of transmission shaft 53 respectively set a driven wheel of differential 55 coordinated with drive bevel gear 52 and drive bevel gear 57；Multiple
The setting of fagging 51 can set more traveling wheels 6, in this way finally to ensure the stability of robot motion.
When being transmitted into action edge, rotary force is passed to drive bevel gear 52 by power plant 7, and passes through drive bevel gear
52 pass to driven wheel of differential 55, drive bevel gear 57, transmission gear 58 successively, and transmission gear 58, which drives, to be located on drive link 56
Traveling wheel 6 move.
During implementation, the preferred link block 54 of this programme is mounted on by articulate in support plate 51, and such link block 54 can
It is rotated with relative support plate 51, becomes hour, the fortune synchronous with position regulator 4 of link block 54 of flexible connection in pipe diameter
It is dynamic, it can significantly increase the diameter that robot is adaptive to pipeline, specifically, it is smaller straight to be adapted to robot
Diameter pipeline.
As shown in figures 1 and 3, position regulator 4 includes the supporting rod 41 being installed on pedestal 31, and supporting rod 41 is under
Supreme movable sleeve successively is equipped with Telescopic spring 42 and sliding sleeve 43, the locating part that the restricted sliding sleeve 43 of 41 end set of supporting rod slips away
44；The connecting rod 45 being rotatablely connected on sliding sleeve 43 is rotatably connected with installing the drive link 56 of traveling wheel 6.
As shown in Fig. 2, in order to improve the stability connected between connecting rod 45 and drive link 56, it can be by the end of connecting rod 45
Setting is in the link 451 of " Fang " shape, and the mounting hole passed through for drive link 56 is offered on the side wall of link 451,
In traveling wheel 6 be located at link 451 three side walls formed groove body in.
When diameter, which occurs, in the pipeline of robot motion becomes small, can row be passed through by extruding of the duct wall to traveling wheel 6
It walks wheel 6 and transmits the force to its drive link 56 is installed, drive link 56 transmits the force to connecting rod 45 again, and connecting rod 45 drives sliding sleeve 43 right
Telescopic spring 42 is compressed, and reduces the relative distance of two traveling wheels 6；
When the pipe diameter of robot motion becomes larger, power when restoring deformation due to Telescopic spring 42 can be with sliding sleeve
43rd, connecting rod 45, drive link 56 and traveling wheel 6 move successively, so that traveling wheel 6 is close to tube wall, finally to make robot adaptive
In the pipeline of different-diameter.
As shown in figure 3, when implementing, the locating part 44 of this programme can include being set to 41 end of supporting rod far from pedestal 31
The screw thread 441 in portion and the nut 42 to slip away with the cooperation limitation sliding sleeve 43 of screw thread 441；The setting of locating part 44 can be to avoid Telescopic spring
Sliding sleeve 43 is bounced off into supporting rod 41 during 42 recovery deformation.
In addition, after the structure that locating part 44 is formed using screw thread 441 and nut 42, robot enter pipeline work it
Before, staff can be according to the diameter of field pipes by adjusting nut 42, and the line size adapted to robot is adjusted
It is whole.
As shown in figure 3, wiper mechanism 1 includes the power part 11 (driving motor) mounted on 31 lower surface of pedestal, power part
11 output shaft is connect with a cleaning axis 13, is cleaned on axis 13 and is fixedly connected with axle sleeve 14；It is rotatably connected at least on axle sleeve 14
A piece motion bar 15 (motion bar 15 is installed on by hinge on axle sleeve 14), the free end of motion bar 15 is connected with cleaning brush 16；
The spacing adjusting device 17 of spacing between adjustment motion bar 15 and cleaning rod is provided between cleaning axis 13 and motion bar 15.
During implementation, in order to ensure cleaning brush 16 in Cleaning pipes inner wall, cleaning brush 16 contacts always with inner wall of the pipe, can
Setting cleaning brush 16 in substantially parallel with the central axes of robot.
When carrying out inner wall of the pipe cleaning, when pipe diameter change is small, come from the pressure transmission of duct wall to cleaning brush
16, pressure passes to motion bar 15 by cleaning brush 16, passes to spacing adjusting device 17 later, passes through indirect regulating device tune
The expanded angle of whole motion bar 15.
As shown in figure 3, spacing adjusting device 17 includes the cleaning fixed elongated limiting section 171 in 13 lower end of axis, limit
Sliding sleeve 172 is arranged in position portion 171, the limiting being connect respectively with sliding sleeve 172 and cleaning axis 13 is arranged on limiting section 171
Spring 173.After limit spring 173 and sliding sleeve 172 are set, when pipe diameter changes, can bullet be limited by compression
Spring 173 or limit spring 173 restore power during deformation, and cleaning brush 16 is made to be adaptive to the pipeline of different-diameter.
As shown in Figure 1 to Figure 3, pipeline cleaning robot further includes at least two and is set in qually spaced in 31 outer surface of pedestal
Auxiliary walking device 2, auxiliary walking device 2 include connecting rod 21, and the cunning that opposite connecting rod 21 is slided is arranged in connecting rod 21
Moving axis set 22 and spring 23；23 both ends of spring in connecting rod 21 are connect respectively with pedestal 31 and sliding shaft sleeve 22, sliding shaft sleeve
Rotating wheel 24 is rotatably connected on 22.
Auxiliary walking device 2 is close to the operation principle of inner wall of the pipe walking also mainly by duct wall compressed spring always
Power during 23 power and spring 23 recovery deformation just repeats no more herein come what is realized.
311 lower surface of substrate of pedestal 31 is connected with supporting rack 12 by 4 bolt and nuts, and the output shaft of power part 11 is worn
Supporting rack 12 is crossed to connect with cleaning axis 13.The output shaft for acting as support driving motor of supporting rack 12, ensures to heart stability,
The output shaft of driving motor is connect with cleaning axis 13 with shaft coupling.
The pipeline cleaning robot further includes robot control terminal, robot control terminal include control module and respectively with control
The pressure sensor and power module of molding block connection；Pressure sensor is set on cleaning brush 16, power plant 7 and power part
11 are connect by power module with control module.
Wherein, control module be stm32f205zet6 minimum systems, the model HX711 of pressure sensor, power module
The bright latitude NES-100-24 of model, the model of power plant and power part can select Xinda XD-37GB520 or sail science and technology
37GB-545。
Pressure sensor can acquire the pressure between cleaning brush 16 and duct wall, and control module can pass through the pressure of feedback
The power that motivation of adjustment portion 11 exports, to adjust the rotary speed of cleaning brush 16, finally to ensure the cleannes of duct wall.
During implementation, this programme preferred pipeline clean robot further includes hand-held control terminal, holds control terminal and includes main control
Chip and the power module being connect with Master control chip, input module, display screen, radio receiving transmitting module；
Robot control terminal further includes the headlamp being connect with control module, image capture module and wireless communication module；
Image capture module (CCD camera) and headlamp may be contained within the front end of pipeline cleaning robot, specifically, Image Acquisition mould
Block is mounted in the substrate 311 in 11 place face of power part, and headlamp is arranged on the free end of cleaning axis 13；Master control chip passes through
Radio receiving transmitting module, wireless communication module communicate with control module.
Wherein, Master control chip be stm32f205zet6 minimum systems, the model LCD1602 of display screen, Image Acquisition
The model tarantula LZ-G2016 of module, the model XL24L01-D01 of radio receiving transmitting module, the model of wireless communication module
Thyrite GPRS wireless communication modules GE864-QUAD-ATEX.
Power module, control module and the wireless transport module of robot control terminal can be arranged on pedestal 31；Its
In power plant 7 and power part 11 preferably connect by driving circuit with control module.
During robot washing and cleaning operation, it is fitted to the headlamp cleaned on axis 13 of driving motor front end, machine
Device people is turned the image information in the pipeline of acquisition by control module by the image capture module being mounted in substrate 311
Master control chip is sent after changing；
Master control chip extraction image information is handled, and estimates coordinate and pipeline half of the robot relative to pipeline
Diameter, then by pipeline internal environment carry out multi-parameter, high emulation reality simulation, on a display screen display pipes grieshoch accumulation feelings
Condition and breakage.
Operator according to relevant information and pressure sensor, temperature sensor and humidity sensor feedack,
Carry out the scheduling of operation and the manipulation of robot in pipeline.
Robot control terminal uses ROS robot operating systems, utilizes the flexible of RO software platforms structure robot system
Property, ease for use and it is feature-rich the features such as so that the system of pipeline cleaning robot can be easily transplanted in other application
It goes, expands the use scope and use value of the present invention.
During implementation, the preferred robot control terminal of this programme further includes temperature sensor (its model being connect with control module
DS18B20 can be selected) and humidity sensor (it can select the HIH-3602 of Honeywell companies), temperature sensor and
Humidity sensor can be arranged on the outer surface of any mechanical part of robot.
After setting robot control terminal, when spacing adjusting device 17 includes limiting section 171, limiting section 171 is and control
The electric telescopic rod of module connection.Pressure sensor combination electric telescopic rod, can be such that cleaning brush 16 is closely pasted with tube wall always
It closes, it is ensured that corresponding tube wall all sites can once be cleaned by rotating a circle.
In conclusion when the robot of this programme is for duct cleaning, can be met in the duct without bend is interferingly passed through
To during reducer pipe can autonomous reducing, can be rotated a circle in cleaning operation is carried out to all part disposable cleanings, and
Image information can be acquired by image capture module to be monitored in real time.
Claims (10)
1. pipeline cleaning robot, which is characterized in that including supporting mechanism, walking mechanism and wiper mechanism, the supporting mechanism
The top bracing plate| of the pedestal upper surface is installed on including pedestal and by an at least support column, the walking mechanism is included at least
Two traveling wheels, at least two transmission devices and the power plant being arranged on pedestal and at least two position regulators；
Output shaft one end of the power plant is connect across top bracing plate| with the transmission device being set on top bracing plate|, the walking
Wheel is mounted on the transmission device；The position regulator includes being installed on supporting rod on pedestal, the supporting rod by
Under supreme movable sleeve successively be equipped with Telescopic spring and sliding sleeve, the locating part that the restricted sliding sleeve of supporting rod end set slips away；Institute
The connecting rod being rotatablely connected on sliding sleeve is stated to be rotatably connected with installing the drive link of traveling wheel；
The wiper mechanism includes the power part mounted on pedestal lower surface, and the output shaft of the power part and a cleaning axis connect
It connects, axle sleeve is fixedly connected on the cleaning axis；An at least motion bar is rotatably connected on the axle sleeve, the motion bar
Free end is connected with cleaning brush；The spacing of spacing between adjustment motion bar and cleaning rod is provided between the cleaning axis and motion bar
Regulating device.
2. pipeline cleaning robot according to claim 1, which is characterized in that the transmission device includes at least two pieces of branch
Fagging and the drive bevel gear for being installed on output shaft end, the support plate is equally spacedly mounted on the top bracing plate|, described
Rotatable relative transmission shaft is provided in support plate, two pieces of link blocks diagonally downward are movably installed in each support plate；
The drive bevel gear coordinates with the driven wheel of differential on the transmission shaft, is rotatably connected on two pieces of link blocks of pairing
The more drive links with transmission gear, two neighboring transmission gear intermeshing；It is provided on the drive link of neighbouring support plate
The drive bevel gear engaged with the driven wheel of differential on transmission shaft, the traveling wheel are installed on the drive link far from support plate.
3. pipeline cleaning robot according to claim 1, which is characterized in that the spacing adjusting device includes cleaning axis
The fixed elongated limiting section in lower end, be arranged on the limiting section sliding sleeve and respectively with sliding sleeve and cleaning axis connection
Limit spring.
4. pipeline cleaning robot according to claim 1, which is characterized in that the locating part includes being set to far from base
The screw thread of the support boom end of seat and the nut to slip away with thread fitting limitation sliding sleeve.
5. pipeline cleaning robot according to claim 1, which is characterized in that further include at least two and be set in qually spaced in
The auxiliary walking device of the pedestal outer surface, the auxiliary walking device include connecting rod, phase are arranged in the connecting rod
The sliding shaft sleeve and spring slided to connecting rod；Both ends of the spring in the connecting rod is connect respectively with pedestal and sliding shaft sleeve,
Rotating wheel is rotatably connected on the sliding shaft sleeve.
6. according to any pipeline cleaning robots of claim 1-5, which is characterized in that the lower surface setting of the pedestal
There is supporting rack, the output shaft of the power part passes through supporting rack and the cleaning axis connection.
7. according to any pipeline cleaning robots of claim 1-5, which is characterized in that robot control terminal is further included,
The robot control terminal includes control module and the pressure sensor and power module that are connect respectively with control module；The pressure
Force snesor is set on cleaning brush, and the power plant and power part are connect by power module with the control module.
8. pipeline cleaning robot according to claim 7, which is characterized in that hand-held control terminal is further included, it is described hand-held
Control terminal includes Master control chip and the power module, input module, display screen, the wireless receiving and dispatching mould that are connect with Master control chip
Block；
The robot control terminal further includes the headlamp being connect with control module, image capture module and wireless communication module；
Described image acquisition module and headlamp may be contained within the front end of pipeline cleaning robot；The Master control chip is by wirelessly receiving
Hair module, wireless communication module communicate with control module.
9. pipeline cleaning robot according to claim 8, which is characterized in that the robot control terminal is further included and controlled
The temperature sensor and humidity sensor of molding block connection.
10. pipeline cleaning robot according to claim 7, which is characterized in that when spacing adjusting device includes limiting section
When, the limiting section is the electric telescopic rod being connect with control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810058987.0A CN108160634A (en) | 2018-01-22 | 2018-01-22 | Pipeline cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810058987.0A CN108160634A (en) | 2018-01-22 | 2018-01-22 | Pipeline cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108160634A true CN108160634A (en) | 2018-06-15 |
Family
ID=62515088
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810058987.0A Pending CN108160634A (en) | 2018-01-22 | 2018-01-22 | Pipeline cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108160634A (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109047207A (en) * | 2018-08-15 | 2018-12-21 | 江苏省绿岛管阀件有限公司 | A kind of walking mechanism in FRPP inner cavity of pipe cleaning device |
| CN109570158A (en) * | 2018-10-31 | 2019-04-05 | 范建明 | It is a kind of to facilitate location type pipeline sewage disposal robot |
| CN109622525A (en) * | 2018-11-23 | 2019-04-16 | 芜湖中燃城市燃气发展有限公司 | One kind being used for natural gas line cleaner |
| CN110761742A (en) * | 2019-10-17 | 2020-02-07 | 辉县市银茂数控设备有限公司 | Pipeline internal climbing power device |
| CN110802087A (en) * | 2019-10-17 | 2020-02-18 | 辉县市银茂数控设备有限公司 | On-line cleaning device for crude oil pipeline of oil field |
| CN111282928A (en) * | 2020-02-13 | 2020-06-16 | 黄惠惠 | Traveling mechanism used in large-caliber tubular structure and automatic scale scraping equipment |
| CN111318523A (en) * | 2020-03-18 | 2020-06-23 | 木昇半导体科技(苏州)有限公司 | MOCVD tail pipe disassembly-free cleaning device |
| CN111350902A (en) * | 2020-03-13 | 2020-06-30 | 广州大学 | Pipeline robot with steering driving wheel belt |
| CN111408588A (en) * | 2020-03-31 | 2020-07-14 | 杭州电子科技大学 | Pipeline cleaning robot and pipeline cleaning method thereof |
| CN112090885A (en) * | 2020-09-08 | 2020-12-18 | 方常平 | Efficient self-adaptive pipeline cleaning mechanism |
| CN112474643A (en) * | 2020-11-13 | 2021-03-12 | 长缆电工科技股份有限公司 | Cleaning and detecting equipment for inner wall of insulating hollow sleeve and sleeve cleaning method |
| CN112474641A (en) * | 2020-11-13 | 2021-03-12 | 长缆电工科技股份有限公司 | In-pipe self-adaptive walking system |
| CN112517566A (en) * | 2020-11-26 | 2021-03-19 | 宁波介量机器人技术有限公司 | Self-adaptive pipeline cleaning robot |
| CN113926810A (en) * | 2021-09-03 | 2022-01-14 | 安徽天思朴超精密模具有限公司 | Pipe detection device |
| CN114178265A (en) * | 2022-02-16 | 2022-03-15 | 济南市槐荫区市政工程服务中心 | Water affair pipeline inner wall cleaning equipment |
| CN114308946A (en) * | 2022-01-06 | 2022-04-12 | 长鑫存储技术有限公司 | Cleaning device of reaction furnace and reaction furnace |
| CN114570723A (en) * | 2020-12-01 | 2022-06-03 | 中国石油天然气股份有限公司 | Automatic descaling and derusting device for inner wall of heat-insulating oil pipe |
| CN115255958A (en) * | 2022-08-09 | 2022-11-01 | 宁波东大恒丰汽车零部件有限公司 | Car stabilizer bar apparatus for producing |
| CN115463911A (en) * | 2022-10-31 | 2022-12-13 | 西南科技大学 | Intelligent pipe cleaner for removing mud and dirt on inner wall of large-diameter pipeline and cleaning method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101537614A (en) * | 2009-04-22 | 2009-09-23 | 武汉理工大学 | Robot for cleaning and detecting pipes |
| US20100139019A1 (en) * | 2007-04-27 | 2010-06-10 | Christian Geppert | Cleaning Apparatus for Large Diameter Pipe |
| CN203437382U (en) * | 2013-08-29 | 2014-02-19 | 山东科技大学 | Robot cleaner for pipe with variable diameter |
| CN205362137U (en) * | 2016-01-12 | 2016-07-06 | 中国人民解放军理工大学 | Tuber pipe cleans machine people |
| CN205479977U (en) * | 2016-04-11 | 2016-08-17 | 西南科技大学 | Pipe detecting robot |
| CN107061924A (en) * | 2017-03-02 | 2017-08-18 | 山东科技大学 | It is a kind of to clear up robot from tapered pipeline |
| CN208004451U (en) * | 2018-01-22 | 2018-10-26 | 西南科技大学 | Pipeline cleaning robot |
-
2018
- 2018-01-22 CN CN201810058987.0A patent/CN108160634A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100139019A1 (en) * | 2007-04-27 | 2010-06-10 | Christian Geppert | Cleaning Apparatus for Large Diameter Pipe |
| CN101537614A (en) * | 2009-04-22 | 2009-09-23 | 武汉理工大学 | Robot for cleaning and detecting pipes |
| CN203437382U (en) * | 2013-08-29 | 2014-02-19 | 山东科技大学 | Robot cleaner for pipe with variable diameter |
| CN205362137U (en) * | 2016-01-12 | 2016-07-06 | 中国人民解放军理工大学 | Tuber pipe cleans machine people |
| CN205479977U (en) * | 2016-04-11 | 2016-08-17 | 西南科技大学 | Pipe detecting robot |
| CN107061924A (en) * | 2017-03-02 | 2017-08-18 | 山东科技大学 | It is a kind of to clear up robot from tapered pipeline |
| CN208004451U (en) * | 2018-01-22 | 2018-10-26 | 西南科技大学 | Pipeline cleaning robot |
Non-Patent Citations (2)
| Title |
|---|
| 上海轨道交通十二号线发展有限公司: "城市轨道交通工程建设单位现场管理操作手册", 上海：同济大学出版社, pages: 433 - 435 * |
| 刘莹;申超;邵泉钢;顾大强;唐任仲;: "中央空调管道式通风系统清洁机器人", no. 03, pages 97 - 101 * |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109047207A (en) * | 2018-08-15 | 2018-12-21 | 江苏省绿岛管阀件有限公司 | A kind of walking mechanism in FRPP inner cavity of pipe cleaning device |
| CN109570158A (en) * | 2018-10-31 | 2019-04-05 | 范建明 | It is a kind of to facilitate location type pipeline sewage disposal robot |
| CN109622525A (en) * | 2018-11-23 | 2019-04-16 | 芜湖中燃城市燃气发展有限公司 | One kind being used for natural gas line cleaner |
| CN110761742A (en) * | 2019-10-17 | 2020-02-07 | 辉县市银茂数控设备有限公司 | Pipeline internal climbing power device |
| CN110802087A (en) * | 2019-10-17 | 2020-02-18 | 辉县市银茂数控设备有限公司 | On-line cleaning device for crude oil pipeline of oil field |
| CN111282928A (en) * | 2020-02-13 | 2020-06-16 | 黄惠惠 | Traveling mechanism used in large-caliber tubular structure and automatic scale scraping equipment |
| CN111350902A (en) * | 2020-03-13 | 2020-06-30 | 广州大学 | Pipeline robot with steering driving wheel belt |
| CN111318523A (en) * | 2020-03-18 | 2020-06-23 | 木昇半导体科技(苏州)有限公司 | MOCVD tail pipe disassembly-free cleaning device |
| CN111408588B (en) * | 2020-03-31 | 2021-07-27 | 杭州电子科技大学 | Pipeline cleaning robot and pipeline cleaning method thereof |
| CN111408588A (en) * | 2020-03-31 | 2020-07-14 | 杭州电子科技大学 | Pipeline cleaning robot and pipeline cleaning method thereof |
| CN112090885A (en) * | 2020-09-08 | 2020-12-18 | 方常平 | Efficient self-adaptive pipeline cleaning mechanism |
| CN112474643A (en) * | 2020-11-13 | 2021-03-12 | 长缆电工科技股份有限公司 | Cleaning and detecting equipment for inner wall of insulating hollow sleeve and sleeve cleaning method |
| CN112474641A (en) * | 2020-11-13 | 2021-03-12 | 长缆电工科技股份有限公司 | In-pipe self-adaptive walking system |
| CN112474643B (en) * | 2020-11-13 | 2023-12-12 | 长缆电工科技股份有限公司 | Cleaning and detecting equipment for inner wall of insulating hollow sleeve and sleeve cleaning method |
| CN112517566A (en) * | 2020-11-26 | 2021-03-19 | 宁波介量机器人技术有限公司 | Self-adaptive pipeline cleaning robot |
| CN114570723A (en) * | 2020-12-01 | 2022-06-03 | 中国石油天然气股份有限公司 | Automatic descaling and derusting device for inner wall of heat-insulating oil pipe |
| CN113926810A (en) * | 2021-09-03 | 2022-01-14 | 安徽天思朴超精密模具有限公司 | Pipe detection device |
| CN114308946A (en) * | 2022-01-06 | 2022-04-12 | 长鑫存储技术有限公司 | Cleaning device of reaction furnace and reaction furnace |
| WO2023130533A1 (en) * | 2022-01-06 | 2023-07-13 | 长鑫存储技术有限公司 | Cleaning device for reaction furnace and reaction furnace |
| CN114178265A (en) * | 2022-02-16 | 2022-03-15 | 济南市槐荫区市政工程服务中心 | Water affair pipeline inner wall cleaning equipment |
| CN115255958A (en) * | 2022-08-09 | 2022-11-01 | 宁波东大恒丰汽车零部件有限公司 | Car stabilizer bar apparatus for producing |
| CN115463911A (en) * | 2022-10-31 | 2022-12-13 | 西南科技大学 | Intelligent pipe cleaner for removing mud and dirt on inner wall of large-diameter pipeline and cleaning method |
| CN115463911B (en) * | 2022-10-31 | 2023-05-16 | 西南科技大学 | Intelligent pipe cleaner for removing mud dirt on inner wall of large-diameter pipeline and dirt removing method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108160634A (en) | Pipeline cleaning robot | |
| CN208004451U (en) | Pipeline cleaning robot | |
| CN204728657U (en) | A kind of full automatic wall surface canopy face spraying sanding apparatus | |
| CN201720225U (en) | Multi-freedom tri-dimensional hairbrush cleaning apparatus of central air-conditioning airduct cleaning robot | |
| CN207395561U (en) | A kind of condenser of central air conditioner automatic flushing device | |
| CN108160622A (en) | A kind of ceiling pipeline high-efficiency cleaning device | |
| CN107214151A (en) | Cleaning device at the top of a kind of pipeline outer wall | |
| CN106207817B (en) | A kind of fan of dry type transformer apparatus for examination and repair | |
| CN106329360B (en) | A kind of pole type transformer examination and repair system | |
| CN107511816A (en) | A kind of tow-armed robot of special-shaped arm | |
| CN208551671U (en) | A kind of ceramic tile surface dust cleaning plant easy to use | |
| CN208147719U (en) | A kind of long distance work socket nut wrench | |
| CN206064042U (en) | A kind of indoor mobile sprinkling dust-removing device | |
| CN109013445A (en) | A kind of operation of air conditioning systems air-conditioning outside cleaning device | |
| CN204244893U (en) | Portable egg collection device | |
| CN204748353U (en) | Portable sand blasting machine | |
| CN204819501U (en) | Horizontal articulated robot | |
| CN210385258U (en) | Dust device for construction | |
| CN107486838A (en) | A kind of tow-armed robot of special-shaped arm | |
| CN114378068A (en) | A pipeline cleaning device for building plumbing | |
| CN207073911U (en) | A kind of multifunctional office humidification device | |
| CN108044785B (en) | A kind of automatic cement brick strip processing production line | |
| CN203887858U (en) | Tower climbing robot | |
| CN205261894U (en) | Novel air conditioner installation device | |
| CN112400678A (en) | Artificial intelligent watering equipment for landscaping and use method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180615 |