CN109731864A - A kind of self-adapting pipe cleaning robot - Google Patents
A kind of self-adapting pipe cleaning robot Download PDFInfo
- Publication number
- CN109731864A CN109731864A CN201910174724.0A CN201910174724A CN109731864A CN 109731864 A CN109731864 A CN 109731864A CN 201910174724 A CN201910174724 A CN 201910174724A CN 109731864 A CN109731864 A CN 109731864A
- Authority
- CN
- China
- Prior art keywords
- robot
- running gear
- motor
- support foot
- cleaning
- 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 39
- 241000239290 Araneae Species 0.000 claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 4
- 230000008859 change Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003153 chemical reaction reagent Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
Abstract
The invention discloses a kind of self-adapting pipes to clear up robot, and the self-adapting pipe clears up robot, including running gear, drive system, cleaning system three parts；The running gear is located at the front and rear ends of robot, including support foot, support rod, support sufficient link block, spring, disk, cam；The drive system is located in the middle part of robot, including upper spider, motor two, crank, connecting rod, lower bearing bracket, motor three, shell, big screw；The cleaning system is located at the front end of robot, including cleaning brush, cleaning brush support rod, brush head link block, motor one, Screw.By the cooperation of each component part, with being suitable for, different tube diameters change the present invention, structure is simple, convenient disassembly, stability are good, the high advantage of security performance.
Description
Technical field
The invention belongs to robotic technology fields more particularly to a kind of self-adapting pipe to clear up robot.
Background technique
In industrial production and daily life, various types of pipelines, such as oil pipeline, gas pipeline, supplying drainage
Road etc., by long-term use after, can largely generate grease, the residues such as scale.The deposition of residue will cause pipeline effective diameter of pipe
Reduction, the reduction and material consumption of conevying efficiency, the increase of energy consumption.Traditional removing residues method, mainly by pipeline
In the middle injection chemical reagent carry out removing residues, but this method there are low efficiency, pollution it is big the disadvantages of.In recent years, with machine
The development of device people's technology, industrial circle gradually adopt robot to pipeline carry out cleaning work, this method have it is applied widely,
The advantages that safe and pollution-free.According to the difference of driving walking mechanism, pipeline cleaning machine people includes wheeled, crawler type, wriggling
The types such as formula, spiral.Although they have its own feature and advantage in structure and technology, its application also faces many
Problem, such as the overall structure and driving principle of robot are relative complex, and can not be real in the presence of the pipeline of steering to caliber change
It is now adaptive, drive the drawing force of walking mechanism smaller etc..The above problem limits the flexibility and adaptability of robot architecture,
Therefore more difficult to be promoted and applied by extensive.
Summary of the invention
In view of the deficiencies of the prior art, the present invention is intended to provide a kind of structure is simple, and there is adaptive caliber, pipeline shape
The pipeline cleaning machine people of shape variation.
The technical solution adopted by the present invention to solve the above technical problem is: the self-adapting pipe clears up robot, packet
Include running gear, drive system, cleaning system three parts.
The running gear is located at the front and rear ends of robot, including support foot, support rod, support sufficient link block, bullet
Spring, disk, cam.The cam is internally provided with motor, can rotate with moving cam.The support foot, support rod, support foot
Link block, spring, disk form the drag link mechanism of similar umbrella, can realize expanding-contracting action under the impetus that cam rotates.
Meanwhile it being provided with pressure sensor on the support foot, the pressure between support foot and tube wall can be acquired, and transfer data to convex
The controller of wheel guarantees that cam turns to suitable position, to adapt to the variation of caliber and pipe shape.
The drive system is located in the middle part of robot, including upper spider, motor two, crank, connecting rod, lower bearing bracket, motor three,
Shell, big screw.The drive system realizes internal closing by big screw and shell.The drive system passes through upper machine
Frame, lower bearing bracket are connected respectively at the running gear of front and rear ends.The motor two, motor three can be front and rear ends running gear
And crank provides driving force.When rear end running gear support foot withstands tube wall, running gear support foot in front end unclamps,
Crank handle turns link motion in drive system, so that front end running gear be driven to travel forward；When front end running gear supports foot
When withstanding tube wall, running gear support foot in rear end unclamps, crank handle turns link motion in drive system, so that rear end be driven to walk
System travels forward.So circulation realizes that the wriggling of robot entirety advances.
The cleaning system is located at the front end of robot, including cleaning brush, cleaning brush support rod, brush head link block, motor
One, Screw.The cleaning system is connected by Screw with front end running gear.The cleaning brush is driven by motor one to be revolved
Turn, to realize the cleaning to pipeline residual object.
Compared with prior art, the beneficial effects of the present invention are: (1) self-adapting pipe of the present invention clears up robot,
It is applicable to the pipeline of different tube diameters；(2) self-adapting pipe of the present invention clears up robot, can be by being arranged on support foot
Pressure sensor cooperates the rotation of cam, and guarantee support foot is adjacent to tube wall, to adapt to caliber change, and before held stationary
Into；(3) self-adapting pipe of the present invention clears up robot, has the advantages of simple structure and easy realization.
Detailed description of the invention:
Fig. 1 is the stereoscopic schematic diagram of self-adapting pipe cleaning robot in the specific embodiment of the invention；
Fig. 2 is the configuration schematic diagram of self-adapting pipe cleaning robot in the specific embodiment of the invention；
Fig. 3 is the structural schematic diagram of the cleaning system of self-adapting pipe cleaning robot in the specific embodiment of the invention；
Fig. 4 is the structural schematic diagram of the drive system of self-adapting pipe cleaning robot in the specific embodiment of the invention；
Fig. 5 is the structural schematic diagram of the running gear of self-adapting pipe cleaning robot in the specific embodiment of the invention.
Mark of the figure 1 above into Fig. 5 are as follows: 1, running gear, 2, drive system, 3, cleaning system, 4, cleaning brush, 5,
Cleaning brush support rod, 6, brush head link block, 7, motor one, 8, upper spider, 9, motor two, 10, crank, 11, connecting rod, 12, lower machine
Frame, 13, motor three, 14, shell, 15, support foot, 16, support rod, 17, the sufficient link block of support, 18, spring, 19, disk, 20,
Cam, 21, Screw, 22, big screw.
Specific embodiment:
Referring to attached drawing 1, the self-adapting pipe clears up robot, including running gear 1, drive system 2, cleaning system 3 three
Point.
Referring to attached drawing 2, attached drawing 5, the running gear 1 is located at the front and rear ends of robot, including support foot 15, support
Bar 16 supports sufficient link block 17, spring 18, disk 19, cam 20.The cam 20 is internally provided with motor, can drive convex
20 rotation of wheel.The support foot 15, supports sufficient link block 17, spring 18, disk 19 to form the pull rod similar to umbrella at support rod 16
Mechanism can realize expanding-contracting action under the impetus that cam 20 rotates.Meanwhile pressure sensing is provided on the support foot 15
Device can acquire the pressure between support foot 15 and tube wall, and transfer data to the controller of cam 20, guarantee that cam 20 turns to
Suitable position, to adapt to the variation of caliber and pipe shape.
Referring to attached drawing 2, attached drawing 4, the drive system 2 is located in the middle part of robot, including upper spider 8, motor 29, crank
10, connecting rod 11, lower bearing bracket 12, motor 3 13, shell 14, big screw 22.The drive system 2 passes through big screw 22 and shell
14, realize internal closing.The drive system 2 by upper spider 8, lower bearing bracket 12 respectively at front and rear ends running gear 1
It is connected.The motor 29, motor 3 13 can provide driving force for front and rear ends running gear 1 and crank 10.After described
When end running gear support foot 15 withstands tube wall, front end running gear support foot 15 unclamps, and crank 10, which drives, in drive system 2 connects
Bar 11 moves, so that front end running gear 1 be driven to travel forward；When front end running gear support foot 15 withstands tube wall, rear end
Running gear support foot 15 unclamps, and crank 10 drives connecting rod 11 to move in drive system 2, thus drive rear end running gear 1 to
Preceding movement.So circulation realizes that the wriggling of robot entirety advances.
Referring to attached drawing 2, attached drawing 3, the cleaning system 3 is located at the front end of robot, including the support of cleaning brush 4, cleaning brush
Bar 5, brush head link block 6, motor 1, Screw 21.The cleaning system is by Screw 21, with 1 phase of front end running gear
Even.The cleaning brush 4 is driven by motor 1 to be rotated, to realize the cleaning to pipeline residual object.
The content that above-mentioned specific embodiment illustrates should be understood as that the specific embodiment is only used for being illustrated more clearly that
The present invention, rather than limit the scope of the invention, after the present invention has been read, those skilled in the art are to of the invention each
The modification of kind equivalent form falls within the application range as defined in the appended claims.
Claims (1)
1. a kind of self-adapting pipe clears up robot, it is characterised in that: the self-adapting pipe clears up robot, including Running System
System, drive system, cleaning system three parts；
The running gear is located at the front and rear ends of robot, including support foot, support rod, support sufficient link block, spring, circle
Disk, cam；The cam is internally provided with motor, can rotate with moving cam；The support foot, support rod, support foot connection
Block, spring, disk form the drag link mechanism of similar umbrella, can realize expanding-contracting action under the impetus that cam rotates；Meanwhile
It is provided with pressure sensor on the support foot, the pressure between support foot and tube wall can be acquired, and transfer data to cam
Controller guarantees that cam turns to suitable position, to adapt to the variation of caliber and pipe shape；
The drive system is located in the middle part of robot, including upper spider, motor two, crank, connecting rod, lower bearing bracket, motor three, outer
Shell, big screw；The drive system realizes internal closing by big screw and shell；The drive system by upper spider,
Lower bearing bracket is connected respectively at the running gear of front and rear ends；The motor two, motor three can for front and rear ends running gear with
And crank provides driving force；When rear end running gear support foot withstands tube wall, running gear support foot in front end unclamps, and drives
Crank handle turns link motion in dynamic system, so that front end running gear be driven to travel forward；When front end running gear supports foot top
Firmly when tube wall, running gear support foot in rear end unclamps, crank handle turns link motion in drive system, to drive rear end Running System
System travels forward；So circulation realizes that the wriggling of robot entirety advances；
The cleaning system is located at the front end of robot, including cleaning brush, cleaning brush support rod, brush head link block, motor one, small
Screw；The cleaning system is connected by Screw with front end running gear；The cleaning brush is driven by motor one to be rotated, with
Realize the cleaning to pipeline residual object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910174724.0A CN109731864A (en) | 2019-03-08 | 2019-03-08 | A kind of self-adapting pipe cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910174724.0A CN109731864A (en) | 2019-03-08 | 2019-03-08 | A kind of self-adapting pipe cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109731864A true CN109731864A (en) | 2019-05-10 |
Family
ID=66369812
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910174724.0A Pending CN109731864A (en) | 2019-03-08 | 2019-03-08 | A kind of self-adapting pipe cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109731864A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110508572A (en) * | 2019-08-26 | 2019-11-29 | 安徽工程大学 | A kind of more support wheel type wriggle pipeline cleanings robot |
| CN117086037A (en) * | 2023-10-17 | 2023-11-21 | 大安吉电绿氢能源有限公司 | Pipeline cleaning device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106903120A (en) * | 2017-05-11 | 2017-06-30 | 中国矿业大学 | A kind of single two-way crawling formula pipeline cleaning machine people of drive |
| CN107355637A (en) * | 2017-07-31 | 2017-11-17 | 广州大学 | Segment type clean robot for central air-conditioning pipe |
| WO2017215810A1 (en) * | 2016-06-13 | 2017-12-21 | Battakarst | Robot for renovating penstocks, provided with an anti-twisting moving system |
| CN207609913U (en) * | 2017-11-21 | 2018-07-13 | 王宗涛 | A kind of Multifunctional pipeline robot that adaptive different tube diameters are spirally advanced |
| CN108758166A (en) * | 2018-07-17 | 2018-11-06 | 武汉理工大学 | Single driving creeping motion type pipe robot |
| CN108758167A (en) * | 2018-09-07 | 2018-11-06 | 湖南千智机器人科技发展有限公司 | A kind of pipe robot |
| CN209715956U (en) * | 2019-03-08 | 2019-12-03 | 长沙理工大学 | A kind of self-adapting pipe cleaning robot |
-
2019
- 2019-03-08 CN CN201910174724.0A patent/CN109731864A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017215810A1 (en) * | 2016-06-13 | 2017-12-21 | Battakarst | Robot for renovating penstocks, provided with an anti-twisting moving system |
| CN106903120A (en) * | 2017-05-11 | 2017-06-30 | 中国矿业大学 | A kind of single two-way crawling formula pipeline cleaning machine people of drive |
| CN107355637A (en) * | 2017-07-31 | 2017-11-17 | 广州大学 | Segment type clean robot for central air-conditioning pipe |
| CN207609913U (en) * | 2017-11-21 | 2018-07-13 | 王宗涛 | A kind of Multifunctional pipeline robot that adaptive different tube diameters are spirally advanced |
| CN108758166A (en) * | 2018-07-17 | 2018-11-06 | 武汉理工大学 | Single driving creeping motion type pipe robot |
| CN108758167A (en) * | 2018-09-07 | 2018-11-06 | 湖南千智机器人科技发展有限公司 | A kind of pipe robot |
| CN209715956U (en) * | 2019-03-08 | 2019-12-03 | 长沙理工大学 | A kind of self-adapting pipe cleaning robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110508572A (en) * | 2019-08-26 | 2019-11-29 | 安徽工程大学 | A kind of more support wheel type wriggle pipeline cleanings robot |
| CN117086037A (en) * | 2023-10-17 | 2023-11-21 | 大安吉电绿氢能源有限公司 | Pipeline cleaning device |
| CN117086037B (en) * | 2023-10-17 | 2024-01-05 | 大安吉电绿氢能源有限公司 | Pipeline cleaning device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109807120A (en) | A kind of self-adapting pipe method for cleaning | |
| CN103697285B (en) | A kind of wheel carries out compound radial adjustable pipeline robot | |
| CN103672295B (en) | Creeping type pipeline robot crawling mechanism | |
| CN101435522B (en) | Pipe walking robot | |
| CN107321672B (en) | Pipe surface attachment clears up robot | |
| CN205253671U (en) | Take running gear's pipeline belt cleaning device | |
| CN202914966U (en) | Folding type wheeled leg pipeline robot | |
| CN100570200C (en) | A kind of self-adapting pipe robot | |
| CN109108006A (en) | A kind of pipeline cleaning machine people | |
| CN110508572A (en) | A kind of more support wheel type wriggle pipeline cleanings robot | |
| CN106015831A (en) | Wheel type pipeline robot with steering of driving wheels being controllable | |
| CN211134864U (en) | Multi-supporting wheel type peristaltic pipeline cleaning robot | |
| CN109731864A (en) | A kind of self-adapting pipe cleaning robot | |
| CN201202928Y (en) | Self-adapting pipe robot | |
| CN109985866B (en) | Tertiary cooling water circulation loop pipeline cleaning robot of nuclear power station | |
| CN102506266A (en) | Bionic squirm type pipeline travelling mechanism and control method thereof | |
| CN107263288A (en) | One kind machining uses large diameter device for dedusting inner wall of steel pipe | |
| CN209715956U (en) | A kind of self-adapting pipe cleaning robot | |
| CN203656480U (en) | Wheel and track composited radial adjustable type pipeline robot | |
| CN205957800U (en) | Head is carried out in barrel pipe cleaning robot's spiral drive | |
| CN103322374B (en) | Cable-free type pipeline countercurrent crawl device | |
| CN206206899U (en) | A kind of new small support industrial robot | |
| CN201042711Y (en) | Device for scrubbing internal wall of metal tube | |
| CN203900126U (en) | Rolling oil vacuum reclaiming device for cold pilger mill | |
| CN108716584A (en) | A kind of reducing seabed tunnel robot for cleaning |
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 | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190510 |