CN108480333B - Pipeline variable-diameter cleaning robot - Google Patents
Pipeline variable-diameter cleaning robot Download PDFInfo
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- CN108480333B CN108480333B CN201810459346.6A CN201810459346A CN108480333B CN 108480333 B CN108480333 B CN 108480333B CN 201810459346 A CN201810459346 A CN 201810459346A CN 108480333 B CN108480333 B CN 108480333B
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- cleaning
- support frame
- driving
- wheel
- supporting
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- 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
Abstract
The invention discloses a pipeline variable-diameter cleaning robot which comprises a supporting driving mechanism and a cleaning mechanism, wherein the supporting driving mechanism is used for supporting and driving the whole robot, the cleaning mechanism is used for rotationally cleaning the inner wall of a pipeline, and the supporting driving mechanism is rotatably connected with the cleaning mechanism. The supporting wheel of the pipeline variable-diameter cleaning robot can stretch out and draw back through the compression spring when encountering foreign matters or pipeline deformation, and is stable in advancing and wider in application range; the supporting wheel mechanism and the driving mechanism synchronously change the diameters, so that the supporting wheel mechanism and the driving mechanism can adapt to pipelines with different diameters; three driving wheels are driven to rotate simultaneously through one motor, so that the structure is compact and the operation is stable; the cleaning structure cleans and dredges the pipeline, so that the normal use and safety of the pipeline are ensured.
Description
Technical Field
The invention belongs to the field of pipeline cleaning robots, and particularly relates to a pipeline variable-diameter cleaning robot.
Background
The pipeline is used as an important carrier for long-distance oil and gas transmission, and the pipeline can be blocked and damaged due to deposition, corrosion and the like of impurities in the pipeline, so that the efficiency and the safety of the pipeline operation can be affected if the pipeline is not cleaned in time. However, the environment where the pipeline is located is not easy to directly reach or allow people to directly enter, and the cleaning difficulty is great. In addition, there are some curved and tapered pipelines due to geographical factors or pipe welding construction or process reasons. Some existing pipeline cleaning robots cannot clean pipelines well, for example, the invention patent application with the application publication number of CN102671898A discloses a cleaning device of the pipeline cleaning robot with variable inner diameter, but only the length of a cleaning brush of the device is telescopic, and the diameter of a robot body cannot be changed; the patent application of the invention with the publication number of CN106140746A discloses a pipeline cleaning robot which adopts a crawler belt to drive, uses too many motors, has too complex structure and is difficult to ensure the consistency of operation. In addition, some existing robot patents generally do not consider the situation that a robot cannot travel when encountering foreign objects or breakage of a pipeline in the pipeline.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a pipeline variable-diameter cleaning robot, which comprises the following specific technical scheme:
the pipeline variable-diameter cleaning robot is characterized by comprising a supporting driving mechanism for supporting and driving the whole robot and a cleaning mechanism for rotatably cleaning the inner wall of a pipeline, wherein the supporting driving mechanism is rotatably connected with the cleaning mechanism;
the support driving mechanism comprises a walking support frame, a first stepping motor support frame, a gland, a long lead screw, a slide bar, a first lead screw nut, a support wheel device, a second lead screw nut, a slide bar spring, a driving wheel support frame, a driving wheel frame, an inner bushing, a second stepping motor, a belt, a driven bevel gear, a driving bevel gear, a large gear, a small gear, a driving belt pulley and a driven belt pulley;
the first stepping motor support frame is fixedly connected to the left end face of the gland, the first stepping motor is fixed on the gland through the first stepping motor support frame, and the motor shaft is fixedly connected to the left end of the long screw rod to the right through a through hole of the gland; the novel screw rod type support device is characterized in that the walking support frame is fixedly connected to the right end face of the gland, an inner bushing is arranged in the walking support frame, the walking support frame is fixedly connected with the inner bushing in the circumferential direction, an axially long strip-shaped through hole is formed in the circumferential direction of the walking support frame, the right end of the long screw rod is rotatably supported on the inner bushing, a section of threads with the same rotation direction are respectively arranged at the left end and the right end of the long screw rod, the first screw rod nut and the second screw rod nut are sequentially screwed on the long screw rod, a plurality of sliding rods are arranged in parallel between the right end face of the gland and the left end face of the inner bushing, the sliding rods penetrate through the two screw rod nuts, a supporting wheel device is arranged at the right end face of the first screw rod nut, the supporting wheel device comprises a supporting wheel frame, supporting wheels and supporting wheel frame supporting rods, one end of each supporting wheel frame is rotatably connected to the right end face of each supporting wheel frame, and supporting wheels are arranged on the supporting wheel frame supporting rods to provide support for the supporting wheel frame; two sliding rod sliding sleeves are arranged on the sliding rod, a sliding rod spring is fixedly arranged between the two sliding rod sliding sleeves, the first sliding rod sliding sleeve is hinged with a supporting rod of a supporting wheel frame, and the second sliding rod sliding sleeve is fixed on the sliding rod;
the right end face of the second screw nut is rotatably connected with a driving wheel support frame, the inner bushing is rotatably connected with the driving wheel frame, and the other end of the driving wheel support frame is rotatably connected with the middle part of the driving wheel frame to provide support for the driving wheel frame;
the second stepping motor is fixed in the inner bushing, the right end face of the inner bushing is provided with an L-shaped side plate and a parallel side plate extending outwards along the axial direction, one surface of the L-shaped side plate extends along the axial direction, the other surface of the L-shaped side plate is parallel to the right end face, the pinion and the driving bevel gear are coaxially connected to two sides of the surface of the L-shaped side plate parallel to the right end face, the driven bevel gear and the driving pulley are coaxially connected to two sides of the surface of the L-shaped side plate extending along the axial direction, a motor shaft of the second stepping motor is connected with a large gear which is meshed with the pinion, the small gear drives the driving bevel gear to rotate, the driving bevel gear is meshed with the driven bevel gear, the driving pulley drives the driving pulley through a belt, the driven pulley is connected to the driving pulley frame, and the driven pulley is coaxially connected with a driving wheel;
the cleaning mechanism comprises a cleaning device walking support frame, a connecting shaft, a third stepping motor support frame, a third stepping motor, a gear, a main shaft, a cleaning structure and an auxiliary wheel structure, wherein one end of the connecting shaft extends out of the left end of the cleaning device walking support frame along the axial direction from left to right, is connected with a universal joint coupling, the other end of the connecting shaft is fixedly connected with the third stepping motor support frame, the third stepping motor is placed in the third stepping motor support frame, the shaft of the third stepping motor is connected with one end of the main shaft, the other end of the main shaft is supported at the right end of the cleaning device walking support frame, the gear is sleeved on the main shaft, and the outer edge of the gear is meshed with the inner wall of the cleaning device walking support frame; the cleaning device walking support frame is internally provided with a first boss and a second boss with through holes at different axial positions respectively, the cleaning structure is arranged in the first boss, and the auxiliary wheel structure is arranged in the second boss; the cleaning structure comprises a first spring, a cleaning rod and a cleaning brush, wherein the first spring is placed in the through hole, the cleaning brush is arranged on the outer wall surface of the walking support frame of the cleaning device, one end of the cleaning rod penetrates through the through hole and compresses the first spring, and the cleaning brush is fixed at the other end of the cleaning rod;
the auxiliary wheel structure comprises an auxiliary wheel frame, an auxiliary wheel and a second spring, wherein the second spring is placed in the through hole, the auxiliary wheel is arranged on the outer wall surface of the walking support frame of the cleaning device, one end of the auxiliary wheel frame penetrates through the through hole and compresses the second spring, and the other end of the auxiliary wheel frame is fixed with the auxiliary wheel.
Further, the sliding rods are the roots, and the supporting wheel devices are uniformly distributed along the circumferential direction.
Further, the driving mechanism consisting of the pinion, the driving bevel gear, the driven bevel gear, the driving belt pulley, the driven belt pulley and the driving wheel is provided with a common sleeve, and the driving mechanism is uniformly distributed along the circumferential direction.
Further, the cleaning rod is T-shaped.
Further, the belt is a V-shaped belt.
The invention has the beneficial effects that: the supporting wheel of the pipeline variable-diameter cleaning robot can stretch out and draw back through the compression spring when encountering foreign matters or pipeline deformation, and is stable in advancing and wider in application range; the supporting wheel mechanism and the driving mechanism synchronously change the diameters, so that the supporting wheel mechanism and the driving mechanism can adapt to pipelines with different diameters; three driving wheels are driven to rotate simultaneously through one motor, so that the structure is compact and the operation is stable; the cleaning structure cleans and dredges the pipeline, so that the normal use and safety of the pipeline are ensured.
Drawings
FIG. 1 is a schematic view of the overall structure of a variable diameter cleaning robot for pipes according to the present invention;
FIG. 2 is a schematic view of a support drive structure;
FIG. 3 is a three-dimensional schematic view of a support drive structure;
FIG. 4 is a schematic view of a cleaning mechanism;
FIG. 5 is a side view of the support drive mechanism structure;
FIG. 6 is a schematic view of a walking support frame structure;
FIG. 7 is a schematic view of the inner bushing mated with the walking support frame;
FIG. 8 is a schematic view of an inner liner structure;
1. the system comprises a support drive mechanism, 2. A cleaning mechanism, 101. A walking support frame, 102. A first stepping motor, 103. A first stepping motor support frame, 104. A gland, 105. A long screw, 106. A slide bar, 107. A first screw nut, 108. A support wheel device, 109. A second screw nut, 110. A first slide bar sliding sleeve, 111. A second slide bar sliding sleeve, 112. A slide bar spring, 113. A driving wheel, 114. A driving wheel support frame, 115. A driving wheel carrier, 116. An inner bushing, 117. A second stepping motor, 118. A belt, 119. A driven bevel gear, 120. A driving bevel gear, 121. A large gear, 122. A small gear, 123. A driving pulley, 124. A driven pulley.
Detailed Description
The objects and effects of the present invention will become more apparent from the following detailed description of the preferred embodiments and the accompanying drawings, in which the present invention is further described in detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, a pipe variable diameter cleaning robot includes a support driving mechanism 1 for supporting and driving the entire robot and a cleaning mechanism 2 for performing rotary cleaning on the inner wall of a pipe; the support driving mechanism 1 and the cleaning mechanism 2 are connected by a universal joint coupling, so that the support driving mechanism can adapt to bending torsion of a pipeline to a certain extent;
as shown in fig. 2, the support driving mechanism 1 includes a walking support frame 101, a first stepping motor 102, a first stepping motor support frame 103, a pressing cover 104, a long screw 105, a slide bar 106, a first screw nut 107, a support wheel device 108, a second screw nut 109, a slide bar spring 112, a driving wheel 113, a driving wheel support frame 114, a driving wheel carrier 115, an inner bushing 116, a second stepping motor 117, a belt 118, a driven bevel gear 119, a driving bevel gear 120, a large gear 121, a small gear 122, a driving pulley 123, and a driven pulley 124;
the first stepper motor support 103 is fixedly connected to the left end face of the gland 104, the first stepper motor 102 is fixed on the gland 104 through the first stepper motor support 103, and a motor shaft is fixedly connected to the left end of the long screw rod 105 to the right through a through hole of the gland 104; the walking support frame 101 is fixedly connected to the right end face of the gland 104, an inner bushing 116 is arranged in the walking support frame 101, the walking support frame 101 is fixedly connected with the inner bushing 116 in the circumferential direction, an elongated through hole along the axial direction is formed in the circumferential direction of the walking support frame 101, the right end of the long screw 105 is rotatably supported on the inner bushing 116, a section of threads with the same rotation direction are respectively arranged at the left end and the right end of the long screw 105, the first lead screw nut 107 and the second lead screw nut 112 are sequentially screwed on the long screw 105, a plurality of sliding rods 106 are arranged in parallel between the right end face of the gland 104 and the left end face of the inner bushing 116, the sliding rods 106 penetrate through the two lead screw nuts, a supporting wheel device 108 is arranged at the right end face of the first lead screw nut 107, the supporting wheel device 108 comprises a supporting wheel frame 1081, a supporting wheel frame 1083 and a supporting wheel frame 1082, one end of the supporting wheel frame 1081 is rotatably connected to the right end face of the first lead screw nut 107, the supporting wheel frame 1083 is arranged on the supporting wheel frame 1081, and the supporting wheel frame 1082 provides a supporting wheel frame for the supporting wheel frame 1081; two sliding rod sliding sleeves are arranged on the sliding rod 106, a sliding rod spring 112 is fixedly arranged between the two sliding rod sliding sleeves, a first sliding rod sliding sleeve 110 is hinged with a supporting wheel frame supporting rod 1082, and a second sliding rod sliding sleeve 111 is fixed on the sliding rod 106; the right end face of the second screw nut 109 is rotatably connected with a driving wheel support 114, the inner bushing is rotatably connected with the driving wheel frame 115, and the other end of the driving wheel support 114 is rotatably connected with the middle part of the driving wheel frame 115 to provide support for the driving wheel frame 115;
when the device works, the first stepping motor 102 is opened to operate so as to drive the long screw rod 105 to rotate forwards or reversely, and the first screw rod nut 107 and the second screw rod nut 109 on the long screw rod 106 are driven to move leftwards or rightwards through spiral transmission so as to drive the supporting wheel 1083 and the driving wheel 113 to stretch or shrink, so that the device is suitable for pipelines with different pipe diameters; when encountering pipe deposit or pipe deformation, the supporting wheel frame supporting rod 1082 can compress the slide bar spring 112 to control the contraction of the supporting wheel 1083 and the driving wheel 113, so that the pipe robot can pass smoothly.
As shown in fig. 3 and fig. 5, the second stepper motor 117 is fixed in the inner bushing 116, the right end surface of the inner bushing 116 is provided with an L-shaped side plate and a parallel side plate extending outwards along the axial direction, one surface of the L-shaped side plate extends along the axial direction, the other surface is parallel to the right end surface, the pinion gear 122 and the drive bevel gear 120 are coaxially connected to two sides of the surface of the L-shaped side plate parallel to the right end surface, the driven bevel gear 119 and the drive bevel gear 123 are coaxially connected to two sides of the surface of the L-shaped side plate extending along the axial direction, the motor shaft of the second stepper motor 117 is connected with the large gear 121, the large gear 121 is meshed with the pinion gear 122, the pinion gear 122 drives the drive bevel gear 120 to rotate, the drive bevel gear 120 is meshed with the driven bevel gear 119, the drive bevel gear 123 is driven by the drive bevel gear 119, the drive pulley 123 is driven by the belt 118 and the driven pulley 124 is connected to the driving wheel frame 115, and the driven pulley 124 is coaxially connected to the driving wheel 113;
when the device works, the second stepping motor 117 is turned on, the large gear 121 is driven to rotate through key connection, so that the three small gears 122 are driven to rotate, the small gears 122 are coaxially connected with the drive bevel gear 120, the drive bevel gear 120 is driven to rotate, so that the driven bevel gear 119 is driven to rotate, the driven bevel gear 119 is coaxially connected with the driving belt pulley 123, the driving belt pulley 123 drives the driven belt pulley 124 to rotate through the belt 118, so that the driving wheel 113 is driven to rotate, and finally the whole device is driven to move forwards.
As shown in fig. 4, the cleaning mechanism 2 includes a cleaning device walking support 201, a connecting shaft 202, a third stepper motor support 203, a third stepper motor 204, a gear 205, a main shaft 206, a cleaning structure 207 and an auxiliary wheel structure 208, wherein one end of the connecting shaft 202 extends out of the left end of the cleaning device walking support 201 along the axial direction from left to right, is connected with a universal joint coupling, the other end of the connecting shaft is fixedly connected with the third stepper motor support 203, the third stepper motor 204 is placed in the third stepper motor support 203, the shaft of the third stepper motor 204 is connected with one end of the main shaft 206, the other end of the main shaft 206 is supported at the right end of the cleaning device walking support 201, the gear 205 is sleeved on the main shaft 206, and the outer edge of the gear 205 is meshed with the inner wall of the cleaning device walking support 201; the cleaning device walking support frame 201 is internally provided with a first boss and a second boss with through holes at different axial positions respectively, the cleaning structure 207 is placed in the first boss, and the auxiliary wheel structure 208 is placed in the second boss; the cleaning structure 207 comprises a first spring 2071, a cleaning rod 2072 and a cleaning brush 2073, wherein the first spring 2071 is placed in the through hole, the cleaning brush 2073 is arranged on the outer wall surface of the cleaning device walking support frame 201, one end of the cleaning rod 2072 penetrates through the through hole and compresses the first spring 2071, and the cleaning brush 2073 is fixed at the other end;
the auxiliary wheel structure 208 comprises an auxiliary wheel frame 2081, an auxiliary wheel 2082 and a second spring 2083, the second spring 2083 is placed in the through hole, the auxiliary wheel 2082 is arranged on the outer wall surface of the walking support 201 of the cleaning device, one end of the auxiliary wheel frame 2081 penetrates through the through hole and compresses the second spring 2083, and the other end of the auxiliary wheel frame 2081 is fixed with the auxiliary wheel 2082.
When the cleaning mechanism works, the third stepping motor 204 rotates to drive the whole cleaning device to rotate on the walking support frame 201 through the gear 205; the cleaning rod 2072 and the cleaning brush 2073 are tightly attached to the inner wall of the pipeline by centrifugal force generated by rotation and are cleaned while rotating; the first spring 2071 is connected to the cleaning lever 2072 and is responsible for pulling the cleaning lever back. The rotation speed of the third stepping motor 204 can be controlled to control the centrifugal force, so that the cleaning brush 2073 can clean the inner walls of pipelines with different pipe diameters. The auxiliary wheel 2082 is always pressed on the inner wall of the pipeline by the elastic force of the second spring 2083.
Fig. 6 is a three-dimensional schematic diagram of a walking support frame 101, wherein 4 bolt holes are formed in the left side of the walking support frame and are fixed with a gland 104 through bolts; three square strips are uniformly arranged on the outer side surface in the circumferential direction so as to facilitate the extension and movement of the auxiliary wheel mechanism 108, the driving wheel carrier 115, the driven belt pulley 124 and the driving wheel 113;
as shown in fig. 7, three bolt holes are uniformly formed in the outer surface of the middle part of the walking support frame 101 along the circumferential direction; three bolt holes are uniformly formed in the circumferential surface of the inner bushing 116 in the circumferential direction; the walking support frame 101 and the inner bushing 116 are fixed together by three bolts.
FIG. 8 is a three-dimensional schematic view of an inner bushing having two bosses, a first boss having a bearing end cap bolted thereto for securing a long lead screw 105; after the bearing cap is installed, a second stepper motor 117 is mounted on the second boss.
It will be appreciated by persons skilled in the art that the foregoing description is a preferred embodiment of the invention, and is not intended to limit the invention, but rather to limit the invention to the specific embodiments described, and that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for elements thereof, for the purposes of those skilled in the art. Modifications, equivalents, and alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (3)
1. The pipeline variable-diameter cleaning robot is characterized by comprising a supporting driving mechanism (1) for supporting and driving the whole robot and a cleaning mechanism (2) for rotationally cleaning the inner wall of a pipeline, wherein the supporting driving mechanism (1) and the cleaning mechanism (2) are rotatably connected;
the support driving mechanism (1) comprises a walking support frame (101), a first stepping motor (102), a first stepping motor support frame (103), a gland (104), a long screw (105), a slide bar (106), a first screw nut (107), a support wheel device (108), a second screw nut (109), a slide bar spring (112), a driving wheel (113), a driving wheel support frame (114), a driving wheel frame (115), an inner bushing (116), a second stepping motor (117), a belt (118), a driven bevel gear (119), a driving bevel gear (120), a large gear (121), a small gear (122), a driving belt pulley (123) and a driven belt pulley (124);
the first stepping motor support frame (103) is fixedly connected to the left end face of the gland (104), the first stepping motor (102) is fixed on the gland (104) through the first stepping motor support frame (103), and a motor shaft is fixedly connected to the left end of the long screw rod (105) to the right through a through hole of the gland (104); the novel screw-type roller support is characterized in that the walking support frame (101) is fixedly connected to the right end face of the gland (104), an inner bushing (116) is arranged in the walking support frame (101), the walking support frame (101) and the inner bushing (116) are circumferentially fixedly connected, an axial strip-shaped through hole is formed in the circumference of the walking support frame (101), the right end of the screw rod (105) is rotatably supported on the inner bushing (116), a section of threads which rotate to the same direction are respectively arranged at the left end and the right end of the screw rod (105), a first screw nut (107) and a second screw nut (109) are sequentially screwed on the screw rod (105), a plurality of slide bars (106) are arranged in parallel between the right end face of the gland (104) and the left end face of the inner bushing (116), the slide bars (106) penetrate through the two screw nuts, a supporting wheel device (108) is arranged on the right end face of the first screw rod nut (107), the supporting wheel device (108) comprises a supporting wheel frame (1081), a supporting wheel 1083 and a supporting wheel frame (1082) which is rotatably supports the supporting wheel frame (1082), and the supporting wheel frame (1082) is rotatably provided on the supporting wheel frame (1); two sliding rod sliding sleeves are arranged on the sliding rod (106), a sliding rod spring (112) is fixedly arranged between the two sliding rod sliding sleeves, the first sliding rod sliding sleeve (110) is hinged with a supporting wheel frame supporting rod (1082), and the second sliding rod sliding sleeve (111) is fixed on the sliding rod (106);
the right end face of the second screw nut (109) is rotatably connected with a driving wheel support frame (114), the inner bushing is rotatably connected with the driving wheel frame (115), and the other end of the driving wheel support frame (114) is rotatably connected with the middle part of the driving wheel frame (115) to provide support for the driving wheel frame (115);
the second stepping motor (117) is fixed in the inner bushing (116), the right end face of the inner bushing (116) is provided with an L-shaped side plate and a parallel side plate extending outwards along the axial direction, one face of the L-shaped side plate extends along the axial direction, the other face of the L-shaped side plate is parallel to the right end face, the pinion (122) and the drive bevel gear (120) are coaxially connected to two sides of the face, parallel to the right end face, of the L-shaped side plate, the driven bevel gear (119) and the drive pulley (123) are coaxially connected to two sides of the face, extending along the axial direction, of the L-shaped side plate, a motor shaft of the second stepping motor (117) is connected with a large gear (121), the large gear (121) is meshed with the pinion (122), the pinion (122) drives the drive bevel gear (120) to rotate, the driven bevel gear (119) drives the drive pulley (123) to drive the driven pulley (124) through a belt (118), the driven pulley (124) is connected to the wheel frame (115), and the driven pulley (124) is coaxially connected with the driving wheel (113);
the cleaning mechanism (2) comprises a cleaning device walking support frame (201), a connecting shaft (202), a third stepping motor support frame (203), a third stepping motor (204), a gear (205), a main shaft (206), a cleaning structure (207) and an auxiliary wheel structure (208), wherein one end of the connecting shaft (202) extends out of the left end of the cleaning device walking support frame (201) along the axial direction from left to right, is connected with a universal joint coupling, the other end of the connecting shaft is fixedly connected with the third stepping motor support frame (203), the third stepping motor (204) is placed in the third stepping motor support frame (203), the shaft of the third stepping motor (204) is connected with one end of the main shaft (206), the other end of the main shaft (206) is supported at the right end of the cleaning device walking support frame (201), the gear (205) is sleeved on the main shaft (206), and the outer edge of the gear (205) is meshed with the inner wall of the cleaning device walking support frame (201). The cleaning device walking support frame (201) is internally provided with a first boss and a second boss with through holes at different axial positions respectively, the cleaning structure (207) is placed in the first boss, and the auxiliary wheel structure (208) is placed in the second boss; the cleaning structure (207) comprises a first spring (2071), a cleaning rod (2072) and a cleaning brush (2073), wherein the first spring (2071) is placed in the through hole, the cleaning brush (2073) is arranged on the outer wall surface of the walking support frame (201) of the cleaning device, one end of the cleaning rod (2072) penetrates through the through hole and compresses the first spring (2071), and the cleaning brush (2073) is fixed at the other end of the cleaning rod;
the auxiliary wheel structure (208) comprises an auxiliary wheel frame (2081), an auxiliary wheel (2082) and a second spring (2083), wherein the second spring (2083) is placed in the through hole, the auxiliary wheel (2082) is arranged on the outer wall surface of the walking support frame (201) of the cleaning device, one end of the auxiliary wheel frame (2081) penetrates through the through hole and compresses the second spring (2083), and the other end of the auxiliary wheel frame (2081) is used for fixing the auxiliary wheel (2082);
the number of the sliding rods (106) is 3, and the number of the supporting wheel devices (108) is 3 and the supporting wheel devices are uniformly distributed along the circumferential direction;
the driving mechanism consisting of a pinion (122), a driving bevel gear (120), a driven bevel gear (119), a driving belt pulley (123), a driven belt pulley (124) and a driving wheel (113) is divided into 3 sets, and the driving mechanisms are uniformly distributed along the circumferential direction.
2. The variable diameter pipe cleaning robot of claim 1 wherein the cleaning rod (2072) is T-shaped.
3. The variable diameter pipe cleaning robot of claim 1, wherein the belt (118) is a V-belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810459346.6A CN108480333B (en) | 2018-05-15 | 2018-05-15 | Pipeline variable-diameter cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810459346.6A CN108480333B (en) | 2018-05-15 | 2018-05-15 | Pipeline variable-diameter cleaning robot |
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| Publication Number | Publication Date |
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| CN108480333A CN108480333A (en) | 2018-09-04 |
| CN108480333B true CN108480333B (en) | 2023-08-01 |
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| CN201810459346.6A Active CN108480333B (en) | 2018-05-15 | 2018-05-15 | Pipeline variable-diameter cleaning robot |
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