CN109078937B

CN109078937B - Pipeline cleaning robot

Info

Publication number: CN109078937B
Application number: CN201810938670.6A
Authority: CN
Inventors: 周云香
Original assignee: Huayu Yuntong Ocean Engineering Technology Shandong Co Ltd
Current assignee: Huayu Yuntong Marine Technology Shandong Co ltd
Priority date: 2018-08-17
Filing date: 2018-08-17
Publication date: 2020-08-11
Anticipated expiration: 2038-08-17
Also published as: CN109078937A

Abstract

The invention discloses a pipeline cleaning robot, which comprises a machine shell, a cleaning mechanism, a pinch roller mechanism, a turnover moving mechanism, a storage battery and a controller, wherein a first universal wheel is arranged at a chamfer of the machine shell, a cleaning chamber, a water storage chamber, a turnover moving driving chamber, a control chamber, a first pinch roller chamber and a second pinch roller chamber are arranged in the machine shell, the cleaning mechanism comprises a first rotating motor, a first rotating shaft, a brush barrel, bristles, a water storage tank, a water pump, a water pumping pipe, a water spraying pipe and a nozzle, the turnover moving mechanism comprises a bearing seat, a stepping motor, a rotary bearing, a rotary rod, a first driven belt pulley, a first driving belt pulley, a rotary disk, a third electric push rod, a third guide sleeve, a third push rod, a third guide rod, a third push plate, a support, a second rotating motor, a second rotating shaft, an anti-skid wheel, a second driven belt pulley, a second driving belt pulley and a controller, A second drive belt. The invention has the advantages of simple structure and strong practicability.

Description

Pipeline cleaning robot

Technical Field

The invention relates to the technical field of cleaning robots, in particular to a pipeline cleaning robot.

Background

A pipe is a device for transporting a gas, a liquid or a fluid with solid particles. Generally, a fluid is pressurized by a blower, a compressor, a pump, a boiler, etc., and then flows from a high pressure portion to a low pressure portion of a pipe, or is transported by the pressure or gravity of the fluid itself. The pipeline has wide application range, and is mainly used for water supply, water drainage, heat supply, gas supply, long-distance petroleum and natural gas transportation, agricultural irrigation, hydraulic engineering and various industrial devices. After the pipeline is used for a long time, the inner wall of the pipeline is laminated with more dust particles or oil smoke and the like, and the pipeline needs to be cleaned regularly, but the pipeline is large in workload due to the fact that the pipeline is large in size, long in length, inconvenient to disassemble and the like, and the pipeline is very inconvenient to clean and is difficult to clean.

The patent number is "201721357418.3" a circular pipeline cleaning robot, including cleaning head, barrel and brush, it provides kinetic energy for whole device through the motor, drives the dead lever through the sleeve pipe for the cleaning head is rotatory, clears up rubbish on the pipe wall, and the brush will be cleaned the head and can not the clean up part retreatment, through the universal wheel free movement.

The cleaning head is narrow in applicability, can only clean circular pipes with a certain radius, can only clean the circular pipes within the rotation range because the cleaning head cannot lift, and can only clean the bottom of the circular pipes in the large-radius circular pipes, but cannot clean the side walls and the top of the circular pipes because the cleaning head cannot contact with the circular pipes, and different devices are required to be replaced for cleaning the circular pipes with different sizes. Therefore, a robot with wide applicability for cleaning a plurality of different large and small pipes is needed to solve the problem.

Disclosure of Invention

The invention aims to solve the problems and designs a pipeline cleaning robot.

The technical scheme of the invention is that the pipeline cleaning robot comprises a machine shell, a cleaning mechanism, a pinch roller mechanism, a turnover moving mechanism, a storage battery and a controller, wherein chamfers are arranged on two sides of the lower end of the machine shell, two first universal wheels are arranged at two chamfers, a plurality of partition plates are arranged in the machine shell, an inner cavity of the machine shell is divided into a cleaning chamber, a water storage chamber, a turnover moving driving chamber, a control chamber, a first pinch roller chamber and a second pinch roller chamber by the partition plates, and the storage battery and the controller are arranged in the control chamber.

Clean mechanism is including installing the first rotating electrical machines in clean room, first rotating electrical machines rotation end installs first pivot through the shaft coupling, first pivot is fixed on the casing through the bearing, the first pivot left end stretches out the casing and installs a brush section of thick bamboo, be equipped with the brush hair on the brush section of thick bamboo, clean mechanism is still including installing water storage box and the water pump in the water storage room, the water pump input passes through drinking-water pipe and water storage box intercommunication, the water pump output even has the spray pipe, the spray pipe stretches out the casing and installs the shower nozzle, the jet direction of shower nozzle is towards the brush hair.

The pinch roller mechanism is including installing first electric putter and the first guide way in first pinch roller chamber, first electric putter is flexible installs first push rod, first guide way interpolation is equipped with first guide bar, first push rod and first guide bar upper end are fixed with first push pedal, install the second universal wheel in the first push pedal, pinch roller mechanism is still including installing second electric putter and the second guide way in the second pinch roller chamber, the flexible second push rod of installing of second electric putter, the interpolation of second guide way is equipped with the second guide bar, second push rod and second guide bar upper end are fixed with the second push pedal, install the third universal wheel in the second push pedal.

The overturning and moving mechanism comprises a bearing seat and a stepping motor which are arranged at the bottom of an overturning and moving driving chamber, a rotary bearing is arranged in the bearing seat, a rotary rod is arranged in the rotary bearing, a first driven belt pulley is sleeved on the rotary rod, a first driving belt pulley is arranged at the rotating end of the stepping motor, the first driving belt pulley is connected with the first driven belt pulley through a first transmission belt in a tensioning manner, a rotary disc is fixed at the top end of the rotary rod, a third electric push rod and a third guide sleeve are arranged on the rotary disc, a third push rod is telescopically arranged on the third electric push rod, a third guide rod is inserted in the third guide sleeve, a third push plate is fixed at the upper ends of the third push rod and the third guide rod, a support and a second rotary motor are arranged on the third push plate, a second rotary shaft is arranged on the support, an anti-skid wheel is fixedly arranged on the second rotary, one end of the second rotating shaft extends out of the support and is provided with a second driven belt pulley, the rotating end of the second rotating motor is provided with a second driving belt pulley, and the second driving belt pulley is connected with the second driven belt pulley in a tensioning mode through a second transmission belt.

And an infrared camera is arranged on the shell.

And a liquid level sensor is arranged in the water storage tank.

The lower ends of the bristles exceed the first universal wheel, and the bristles can be in contact with the pipe wall.

The upper end of the water storage tank is provided with a water inlet communicated with the casing, and the water inlet is provided with a water cover in threaded sealing connection with the water inlet.

And a wireless transceiving module and a GPS positioning module are arranged in the controller.

The signal output end of the controller is electrically connected with the signal input ends of the storage battery, the first rotating motor, the water pump, the first electric push rod, the second electric push rod, the stepping motor, the third electric push rod, the second rotating motor, the infrared camera and the liquid level sensor.

According to the pipeline cleaning robot manufactured by the technical scheme, the robot can be kept stable in circular pipes with different sizes through the pinch roller mechanism, the robot can turn and move in the circular pipes through the turning moving mechanism, the inner walls of the circular pipes are cleaned through the cleaning mechanism, the cleaning mechanism is matched with the turning moving mechanism to rotatably clean the pipe walls, and the cleaning robot can clean the circular pipes with different sizes, so that the pipeline cleaning robot is wide in applicability and strong in practicability.

Drawings

FIG. 1 is a schematic structural diagram of a pipe cleaning robot according to the present invention;

FIG. 2 is a right side view of a pipe cleaning robot according to the present invention;

FIG. 3 is an enlarged view of a portion of FIG. 1 at A;

FIG. 4 is an enlarged view of a portion of FIG. 1 at B;

FIG. 5 is an enlarged view of a portion of FIG. 1 at C;

in the figure, 1, a housing; 2. a storage battery; 3. a controller; 4. chamfering; 5. a first universal wheel; 6. a partition plate; 7. a clean room; 8. a reservoir chamber; 9. a turnover movement driving chamber; 10. a control room; 11. a first pressure wheel chamber; 12. a second pressure wheel chamber; 13. a first rotating electrical machine; 14. a first rotating shaft; 15. a brush barrel; 16. brushing; 17. a water storage tank; 18. a water pump; 19. a water pumping pipe; 20. a water spray pipe; 21. a spray head; 22. a first electric push rod; 23. a first guide sleeve; 24. a first guide bar; 25. a first push rod; 26. a first push plate; 27. a second universal wheel; 28. a second electric push rod; 29. a second guide sleeve; 30. a second guide bar; 31. a second push rod; 32. a second push plate; 33. a third universal wheel; 34. a bearing seat; 35. a stepping motor; 36. a slew bearing; 37. a turning lever; 38. a first driven pulley; 39. a first drive pulley; 40. a first drive belt; 41. a rotary disk; 42. a third electric push rod; 43. a third guide sleeve; 44. a third push rod; 45. a third guide bar; 46. a third push plate; 47. a support; 48. a second rotating electrical machine; 49. a second rotating shaft; 50. a second driven pulley; 51. a second drive pulley; 52. a second drive belt; 53. an infrared camera; 54. a liquid level sensor; 55. a water inlet; 56. and (7) a water cover.

Detailed Description

In the present embodiment, the robot is first placed in a circular tube, and then a wireless signal is sent to the controller 3 through an external remote controller, and the controller 3 receives a command sent by the remote controller and then controls corresponding electrical components to operate, as shown in fig. 1 to 5;

firstly, the robot is kept stable in a circular tube, a first electric push rod 22 and a second electric push rod 28 are started, the telescopic end of the first electric push rod 22 extends out and pushes a first push plate 26 through a first push rod 25, the first push plate 26 drives a first guide rod 24 to move, the first guide rod 24 is lifted in a first guide sleeve 23 to enable the first push plate 26 to stably lift, when a second universal wheel 27 rises to the top wall of the pipeline, the telescopic end of the first electric push rod 22 stops extending out, similarly, the second electric push rod 28 enables a third universal wheel 33 to rise to the top wall of the pipeline, and the first universal wheel 5, the second universal wheel 27 and the third universal wheel 33 are all in contact with the pipeline, so that the machine shell 1 is stable;

then starting a cleaning program, wherein the first rotating motor 13 drives the brush barrel 15 to rotate through the first rotating shaft 14, bristles 16 on the brush barrel 15 are in contact with the pipe wall and brush dirt on the pipe wall down, the water pump 18 pumps the cleaning water pump 18 in the water storage tank 17 into the water spray pipe 20 through the water suction pipe 19, and water in the water spray pipe 20 is sprayed to the position where the bristles 16 are in contact with the pipe wall through the spray head 21, so that the cleaning effect is improved;

after the brush 16 cleans the bottom pipe wall, the cleaning position needs to be moved, so that the brush 16 can contact the side wall of the circular pipe, the step motor 35 is started, the step motor 35 is electrified and rotated for 90 degrees, the step motor 35 drives the first driven pulley 38 to rotate through the first driving pulley 39 and the first driving belt 40, the first driving pulley 39 and the first driven pulley 38 have the same size, the rotating rod 37 rotates for 90 degrees along with the first driven pulley 38, so that the movement direction of the anti-skid wheel is rotated to the direction capable of rotating along the inner wall of the circular pipe, then the telescopic end of the third electric push rod 42 extends out and pushes the third push plate 46 through the third push rod 44, the third push plate 46 drives the third guide rod 45 to move, the third guide rod 45 rises in the third guide sleeve 43 so that the third push plate 46 can rise stably, when the anti-skid wheel presses the top wall of the circular pipe, the second rotating motor 48 is electrified and rotated, the second rotating motor 48 drives the second driven belt pulley 50 to rotate through a second driving belt pulley 51 and a second transmission belt 52, the size of the second driving belt pulley 51 is smaller than that of the second driven belt pulley 50, a speed reduction effect can be achieved, the second driven belt pulley 50 drives the second rotating shaft 49 and the anti-skid wheels to rotate, the anti-skid wheels do circular motion along the pipe wall, therefore, the robot rotates in the circular pipe, and the bristles 16 perform circular motion along the pipe wall to clean the pipe wall;

when the pipe wall contacted by the brush 16 is cleaned, the robot needs to be controlled to move forwards, the second rotating motor 48 is powered off to halt work, after the robot stops rotating, the telescopic end of the third electric push rod 42 is controlled to contract, so that the anti-skid wheels are not contacted with the pipe wall, the stepping motor 35 is controlled to rotate in the reverse direction by 90, the movement direction of the anti-skid wheels is rotated to the length direction of the circular pipe, then the telescopic end of the third electric push rod 42 is controlled to extend, so that the anti-skid wheels press the pipe wall tightly, the second rotating motor 48 is started, the anti-skid wheels rotate along with the second rotating motor 48 to drive the machine shell 1, the first universal wheel 5, the second universal wheel 27 and the third universal wheel 33 to move, when the robot moves to the position where the circular pipe is not cleaned, the second rotating motor 48 stops rotating, and at the moment, the cleaning;

the infrared camera 53 can shoot videos inside the circular tube, information is sent to the controller 3, the controller 3 sends the videos to the remote controller through wireless signals, and operators can observe clean details conveniently.

The technical solutions described above only represent the preferred technical solutions of the present invention, and some possible modifications to some parts of the technical solutions by those skilled in the art all represent the principles of the present invention, and fall within the protection scope of the present invention.

Claims

1. A pipeline cleaning robot comprises a machine shell (1), a cleaning mechanism, a pinch roller mechanism, a turnover moving mechanism, a storage battery (2) and a controller (3), and is characterized in that chamfers (4) are arranged on two sides of the lower end of the machine shell (1), two first universal wheels (5) are arranged at the two chamfers (4), a plurality of partition plates (6) are arranged in the machine shell (1), the inner cavity of the machine shell (1) is divided into a cleaning chamber (7), a water storage chamber (8), a turnover moving driving chamber (9), a control chamber (10), a first pinch roller chamber (11) and a second pinch roller chamber (12) by the partition plates (6), and the storage battery (2) and the controller (3) are installed in the control chamber (10);

the cleaning mechanism comprises a first rotating motor (13) arranged in a cleaning chamber (7), a first rotating shaft (14) is arranged at the rotating end of the first rotating motor (13) through a coupler, the first rotating shaft (14) is fixed on a machine shell (1) through a bearing, the left end of the first rotating shaft (14) extends out of the machine shell (1) and is provided with a brush barrel (15), bristles (16) are arranged on the brush barrel (15), the cleaning mechanism also comprises a water storage tank (17) and a water pump (18) which are arranged in the water storage chamber (8), the input end of the water pump (18) is communicated with the water storage tank (17) through a water pumping pipe (19), the output end of the water pump (18) is connected with a water spray pipe (20), the water spray pipe (20) extends out of the machine shell (1) and is provided with a spray head (21), and the spray direction;

the pinch roller mechanism is including installing first electric putter (22) and first guide sleeve (23) in first pinch roller room (11), first push rod (25) are installed in first electric putter (22) flexible, first guide sleeve (23) interpolation is equipped with first guide bar (24), first push rod (25) and first guide bar (24) upper end are fixed with first push pedal (26), install second universal wheel (27) on first push pedal (26), the pinch roller mechanism is still including installing second electric putter (28) and second guide sleeve (29) in second pinch roller room (12), second push rod (31) is installed in second electric putter (28) flexible, second guide sleeve (29) interpolation is equipped with second guide bar (30), second push rod (31) and second guide bar (30) upper end are fixed with second push pedal (32), install third universal wheel (33) on second push pedal (32).

2. The pipeline cleaning robot according to claim 1, wherein the overturning moving mechanism comprises a bearing seat (34) and a stepping motor (35) which are arranged at the bottom of the overturning moving driving chamber (9), a rotary bearing (36) is arranged in the bearing seat (34), a rotary rod (37) is arranged in the rotary bearing (36), a first driven belt pulley (38) is sleeved on the rotary rod (37), a first driving belt pulley (39) is arranged at the rotating end of the stepping motor (35), the first driving belt pulley (39) is connected with the first driven belt pulley (38) in a tensioning manner through a first transmission belt (40), a rotary disc (41) is fixed at the top end of the rotary rod (37), a third electric push rod (42) and a third guide sleeve (43) are arranged on the rotary disc (41), and a third push rod (44) is arranged on the third electric push rod (42) in a telescopic manner, third guide bar (45) are inserted in third guide sleeve (43), third push rod (44) and third guide bar (45) upper end are fixed with third push pedal (46), install support (47) and second rotating electrical machines (48) on third push pedal (46), be equipped with second pivot (49) on support (47), fixed mounting has anti-skidding wheel on second pivot (49), second pivot (49) are installed on support (47) through ball bearing, second pivot (49) one end stretches out support (47) and installs second driven pulley (50), second driving pulley (51) are installed to second rotating electrical machines (48) rotation end, second driving pulley (51) and second driven pulley (50) are connected through second drive belt (52) tensioning within a definite time.

3. A pipe cleaning robot according to claim 2, characterized in that an infrared camera (53) is mounted on the housing (1).

4. A pipe cleaning robot according to claim 3, characterized in that a level sensor (54) is arranged in the reservoir (17).

5. A robot as claimed in claim 1, characterized in that the bristles (16) are arranged with their lower ends extending beyond the first universal wheel (5), the bristles (16) being adapted to contact the pipe wall.

6. The pipeline cleaning robot as claimed in claim 1, wherein the upper end of the water storage tank (17) is provided with a water inlet (55) penetrating through the machine shell (1), and a water cover (56) in threaded sealing connection with the water inlet (55) is arranged at the water inlet (55).

7. The pipe cleaning robot according to claim 1, wherein a wireless transceiver module and a GPS positioning module are arranged in the controller (3).

8. The pipeline cleaning robot according to claim 4, wherein the signal output end of the controller (3) is electrically connected with the signal input ends of the storage battery (2), the first rotating motor (13), the water pump (18), the first electric push rod (22), the second electric push rod (28), the stepping motor (35), the third electric push rod (42), the second rotating motor (48), the infrared camera (53) and the liquid level sensor (54).