CN110280550B - Robot for cleaning inner wall of pipeline - Google Patents
Robot for cleaning inner wall of pipeline Download PDFInfo
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- CN110280550B CN110280550B CN201910691029.1A CN201910691029A CN110280550B CN 110280550 B CN110280550 B CN 110280550B CN 201910691029 A CN201910691029 A CN 201910691029A CN 110280550 B CN110280550 B CN 110280550B
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- pipeline
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- sleeve
- connecting part
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- 238000004140 cleaning Methods 0.000 title claims abstract description 101
- 230000001681 protective effect Effects 0.000 claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims description 47
- 238000005452 bending Methods 0.000 claims description 10
- 230000000149 penetrating effect Effects 0.000 claims description 9
- 238000004804 winding Methods 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 2
- 239000000428 dust Substances 0.000 abstract description 19
- 238000010586 diagram Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000007789 gas Substances 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 239000003209 petroleum derivative Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention provides a cleaning robot for the inner wall of a pipeline, which belongs to the technical field of pipeline cleaning equipment and comprises a fan, a first spring, elastic supporting legs, rollers, a cleaning head and a driving mechanism. The outer side of the fan is covered with a protective shell; the two connecting blocks are respectively arranged at two sides of the protective shell, the connecting blocks are provided with a plurality of elastic supporting legs, and the tail end rollers of the elastic supporting legs; the two cleaning heads are respectively arranged at one sides of the two connecting blocks; the two driving mechanisms are respectively arranged on the protective shell and used for driving the cleaning head to rotate. According to the cleaning robot for the inner wall of the pipeline, the device moves under the drive of the plurality of rollers, and moves in the pipeline without manual holding, when the device moves in the curved pipeline, the two first springs can bend according to the trend of the pipeline, so that the device can smoothly move in the curved pipeline, the rotating plurality of brushes are utilized to remove the intractable dust on the inner wall of the pipeline, and meanwhile, the dust left on the inner wall of the pipeline after being removed is blown out of the pipeline by being matched with the fan.
Description
Technical Field
The invention belongs to the technical field of pipeline cleaning equipment, and particularly relates to a pipeline inner wall cleaning robot.
Background
Pipes are devices for transporting gases, liquids or fluids with solid particles, and are used in a wide variety of applications, mainly in water supply, drainage, heat supply, gas supply, long distance transportation of petroleum and natural gas, agricultural irrigation, hydraulic engineering and various industrial devices.
Dust can be attached to the inner wall of the pipeline after the pipeline is stored for a period of time, and for shorter pipelines, a worker can directly hold the long rod with the hairbrush to clean the inner wall of the pipeline; for longer pipelines or curved pipelines, the cleaning mode of the handheld hairbrush is difficult to realize, and dust is usually sucked out by placing a dust collector at the end part of the pipeline or blown out by placing a fan at the end part of the pipeline, but stubborn dust on the inner walls of the longer pipeline and the curved pipeline cannot be thoroughly removed.
Disclosure of Invention
The invention aims to provide a robot for cleaning the inner wall of a pipeline, which aims to solve the problem that the intractable dust on the inner wall of a longer pipeline or a bent pipeline is difficult to clean.
In order to achieve the above purpose, the invention adopts the following technical scheme: provided is a robot for cleaning an inner wall of a pipe, comprising:
The outer side of the fan is covered with a protective shell;
The two connecting blocks are respectively arranged at two sides of the protective shell through first springs, a plurality of elastic supporting legs are uniformly arranged in the circumferential direction of the connecting blocks, the tail ends of the elastic supporting legs are provided with rollers driven by a first motor, and the rollers are respectively used for propping against the inner wall of the pipeline through the plurality of elastic supporting legs;
The two cleaning heads are respectively arranged at one side of the two connecting blocks, which is far away from the fan, and a plurality of hairbrushes for cleaning the inner wall of the pipeline are circumferentially arranged on the cleaning heads;
The two driving mechanisms are respectively arranged at two sides of the protective shell and are respectively positioned in the two first springs, and the two driving mechanisms are respectively used for driving the cleaning head to rotate.
Further, the pipe inner wall cleaning robot further includes:
and the two end covers are respectively arranged at the tail ends of the cleaning heads and are used for installing cameras.
Further, the cleaning head comprises:
the first connecting part is rotationally arranged at one end of the connecting block, which is far away from the first spring;
The second connecting part is spliced at one end, far away from the connecting block, of the first connecting part;
The third connecting part is spliced at one end, far away from the first connecting part, of the second connecting part, and the end cover is arranged at one end, far away from the second connecting part, of the third connecting part;
the connecting springs are respectively used for connecting the first connecting part and the connecting block and are used for connecting the first connecting part and the second connecting part;
The first connecting part, the second connecting part and the third connecting part are circumferentially provided with a plurality of mounting holes for mounting brushes.
Further, the elastic leg includes:
The sleeve is fixedly arranged on the side wall of the connecting block;
The support rod is arranged in the sleeve in a penetrating way, and the roller is arranged at one end of the support rod far away from the sleeve;
and the second spring is arranged in the sleeve, is close to one side of the connecting block and is used for propping against the supporting rod.
Further, the elastic leg further includes:
The sliding block is arranged at one end of the supporting rod penetrating into the sleeve and is arranged in the sleeve in a sliding manner;
the baffle ring is arranged at one end of the sleeve close to the supporting rod and used for preventing the sliding block from sliding out of the sleeve.
Further, the sleeve is a rectangular pipe, and the sliding block is a rectangular block matched with the inner cavity of the sleeve.
Further, the driving mechanism includes:
the control box is fixedly arranged on one side of the protective shell;
the second motor is arranged in the control box;
The transmission assembly is connected with the driving end of the second motor and the cleaning head and used for driving the cleaning head to rotate.
Further, the transmission assembly includes:
The transmission joints are axially connected in series, and the transmission joints at the two ends are respectively connected with the driving end of the second motor and the cleaning head;
the two ends of the transmission joint are respectively provided with a cross beam, a plurality of cross beam tail end connecting rods used for connecting the two ends are axially arranged, one cross beam of the transmission joint is positioned between two adjacent cross beams of the transmission joint, and one connecting rod of the transmission joint is positioned between two adjacent connecting rods of the transmission joint.
Further, still be equipped with in the control box:
the first reel is rotatably arranged in the control box;
One end of the first traction wire is fixedly wound on a central shaft of the first winding wheel, and the other end of the first traction wire penetrates through the plurality of sleeves of the same connecting block respectively and is connected to one end, close to the connecting block, of the supporting rod, and is used for driving the supporting rod to compress the second spring;
the second reel is rotatably arranged in the control box;
and one end of the second traction wire is fixedly wound on a central shaft of the second winding wheel, and the other end of the second traction wire sequentially penetrates through a plurality of transmission joints on the same side of the connecting block and the cleaning head to be connected with the end cover, so that the end cover is driven to compress a plurality of connecting springs.
Further, the end of the elastic supporting leg is provided with a bracket vertical to the length direction of the elastic supporting leg, the idler wheels are rotatably arranged in the middle of the bracket, two ends of the bracket are provided with bending parts bending towards one side of the connecting block, and two auxiliary wheels are rotatably arranged on the bending parts.
The cleaning robot for the inner wall of the pipeline has the beneficial effects that: compared with the prior art, the cleaning robot for the inner wall of the pipeline moves under the drive of the plurality of rollers, and is driven to travel in the pipeline without manual holding, when the cleaning robot travels in the curved pipeline, the two first springs can bend according to the direction of the pipeline, so that the cleaning robot can travel in the curved pipeline smoothly, the rotating plurality of brushes are utilized to clean the intractable dust on the inner wall of the pipeline, and meanwhile, the dust left on the inner wall of the pipeline after cleaning is blown out of the pipeline by being matched with the fan.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a robot for cleaning an inner wall of a pipeline according to an embodiment of the present invention;
FIG. 2 is an exploded view of FIG. 1;
Fig. 3 is a schematic structural view of an elastic leg of a pipe inner wall cleaning robot according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of a connection block, an elastic leg and a cleaning head of a robot for cleaning an inner wall of a pipeline according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a fan and a driving mechanism of a cleaning robot for cleaning an inner wall of a pipeline according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram II of a fan and a driving mechanism of a cleaning robot for cleaning an inner wall of a pipeline according to an embodiment of the present invention;
FIG. 7 is a control diagram of a controller of a pipeline inner wall cleaning robot provided by an embodiment of the invention;
fig. 8 is a workflow diagram of a pipeline inner wall cleaning robot according to an embodiment of the present invention.
In the figure: 1. a blower; 2. a protective shell; 3. a connecting block; 4. a first spring; 5. an elastic leg; 501. a sleeve; 502. a support rod; 503. a second spring; 504. a slide block; 505. a baffle ring; 6. a first motor; 7. a roller; 8. a cleaning head; 801. a first connection portion; 802. a second connecting portion; 803. a third connecting portion; 804. a connecting spring; 805. a mounting hole; 9. a driving mechanism; 901. a control box; 9011. a first reel; 9012. a second reel; 902. a second motor; 903. a transmission assembly; 9031. a transmission joint; 10. an end cap; 11. a bracket; 12. an auxiliary wheel.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. 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.
The robot for cleaning the inner wall of a pipeline provided by the invention will now be described. Referring to fig. 1 and 2, the robot for cleaning the inner wall of a pipeline comprises a blower fan 1, a protective shell 2, a connecting block 3, a first spring 4, elastic supporting legs 5, rollers 7, a cleaning head 8 and a driving mechanism 9.
The outer side of the fan 1 is covered with a protective shell 2; the two connecting blocks 3 are respectively arranged at two sides of the protective shell 2 through first springs 4, a plurality of elastic supporting legs 5 are uniformly arranged on the circumference of the connecting blocks 3, idler wheels 7 driven by a first motor 6 are arranged at the tail ends of the elastic supporting legs 5, and the idler wheels 7 are respectively used for propping against the inner wall of a pipeline through the plurality of elastic supporting legs 5; the two cleaning heads 8 are respectively arranged at one side of the two connecting blocks 3 far away from the fan 1, and a plurality of brushes for cleaning the inner wall of the pipeline are circumferentially arranged on the cleaning heads 8; two driving mechanisms 9 are respectively installed at two sides of the protective shell 2 and are respectively located in the two first springs 4, and the two driving mechanisms 9 are respectively used for driving the cleaning head 8 to rotate.
The protecting shell 2 is cylindrical, the fan 1 is installed in the protecting shell 2 through a fan motor, the fan motor can drive the fan 1 to rotate positively and negatively, the fan 1 is located at the center of the protecting shell 2, a storage battery is installed in the circumferential shell of the protecting shell 2 and connected with the fan motor for driving the fan 1 to rotate, the protecting shell is used for providing electric energy for the fan motor, protecting nets are further arranged at two ends of the protecting shell 2 and used for protecting the fan 1, and sundries are prevented from entering the protecting shell 2 to influence the fan 1 to rotate.
The connecting block 3 is a polyhedral prism, the inside cavity is opened and keeps away from the one end of first spring 4, the one end welded fastening of first spring 4 is on the one end of protecting crust 2, the other end welds on the terminal surface of connecting block 3, the elasticity landing leg 5 is eight altogether, evenly distributed has four on every connecting block 3, divide into four anterior segment motors and four posterior segment motors and install respectively in the circumference of connecting block 3, all penetrate in the connecting block 3 and fixed with connecting block 3.
The elastic supporting leg 5 is welded and fixed with a first motor 6 at one end far away from the connecting block 3, the driving end of the first motor 6 is connected with a roller 7, the roller 7 is a Mecanum wheel, the universal movement can be realized, the function similar to a universal wheel is formed by a plurality of wheel peripheral wheel shafts and central wheels, and the angled peripheral wheel shafts convert part of the steering force of the wheels to the normal force of the wheels. Depending on the direction and speed of the respective wheel, the final combination of these forces creates a resultant force vector in any desired direction, thereby ensuring that the platform can move freely in the direction of the final resultant force vector without changing the direction of the wheel itself. A plurality of small rollers are obliquely distributed on the rim of the wheel, so that the wheel can slide transversely. When the wheel rotates around the fixed wheel axle, the envelope of each small roller is a cylindrical surface, so the wheel can roll forward continuously. The Mecanum wheel has compact structure and flexible movement, and is a very successful omnibearing wheel. The elastic supporting leg 5 supports the idler wheel 7 against the inside of the pipeline by utilizing the elasticity of the elastic supporting leg, the first motor 6 drives the idler wheel 7 to rotate, and the idler wheels 7 can realize the omnibearing moving function more flexibly and conveniently, so that the device can realize the movement in all directions in the pipeline.
The cleaning head 8 is inserted on the connecting block 3, a plurality of hairbrushes with proper lengths can be installed in the circumferential direction of the cleaning head 8 according to the inner diameter of the pipeline, the hairbrushes are propped against the inside of the pipeline, and the driving mechanisms 9 installed on two sides of the protective shell 2 respectively drive the cleaning head 8 to rotate, so that the plurality of hairbrushes are driven to rotate.
Compared with the prior art, the cleaning robot for the inner wall of the pipeline provided by the invention moves under the drive of the plurality of rollers 7, and moves in the pipeline without manual holding, and when the cleaning robot for the inner wall of the pipeline moves in the curved pipeline, the two first springs 4 can bend according to the trend of the pipeline, so that the cleaning robot can smoothly move in the curved pipeline, and the rotating plurality of brushes are utilized to clean the intractable dust on the inner wall of the pipeline, and meanwhile, the dust left on the inner wall of the pipeline after cleaning is blown out of the pipeline by being matched with the fan 1.
Referring to fig. 1 and 2, as an embodiment of the present invention, the pipe inner wall cleaning robot further includes an end cap 10.
Two end caps 10 are respectively provided at the ends of the cleaning head 8, and the end caps 10 are used for installing cameras. In this embodiment, end cover 10 is pyramid shell structure, and the one end of installing with cleaning head 8 is equipped with the connecting rod, and the connecting rod is pegged graft in cleaning head 8, and the camera is installed in the outside of end cover 10 for observe the condition in the pipeline, in time discover the foreign matter that influences this device and march in the pipeline, like toy, stone or sticky debris etc. avoid this device to be difficult to clear up the foreign matter damage this device or influence this device normal operating, equally, the outside of end cover 10 still can install the light, be used for illuminating intraductal space, guarantee the definition of camera.
Referring to fig. 4, as an embodiment of the present invention, the cleaning head 8 includes a first connection portion 801, a second connection portion 802, a third connection portion 803, a connection spring 804, and a mounting hole 805.
The first connection part 801 is rotatably provided at one end of the connection block 3 away from the first spring 4; the second connecting part 802 is inserted into one end of the first connecting part 801 away from the connecting block 3; the third connecting portion 803 is inserted into one end, away from the first connecting portion 801, of the second connecting portion 802, and the end cover 10 is disposed at one end, away from the second connecting portion 802, of the third connecting portion 803; a plurality of connection springs 804 for connecting the first connection portion 801 and the connection block 3, respectively, for connecting the first connection portion 801 and the second connection portion 802; a plurality of mounting holes 805 for mounting the brush are opened in the circumferential direction of the first, second and third connection parts 801, 802 and 803. In this embodiment, the connecting block 3 has a multi-section structure, and includes a first connecting portion 801 rotatably matched with an opening end of the connecting block 3, and the first connecting portion 801 is connected with the connecting block 3 through a deep groove ball bearing, so that the working posture of the connecting block 3 is not affected when the first connecting portion 801 rotates. The inner ring of the deep groove ball bearing is fixed to the connection block 3, and the outer ring and the first connection portion 801. The end cover 10 is inserted and installed on the third connecting portion 803, the size of one end of each connecting portion from the connecting block 3 is gradually reduced, the connecting portions are of prismatic structures with one end open and the other end closed, the connecting portions are mutually inserted and matched, the connecting portions can move along the length direction of the center shaft, the prismatic structures can limit the axial rotation of the adjacent connecting portions, the connecting portions can synchronously rotate under the driving of the driving mechanism 9, the hairbrushes on the connecting portions are driven to synchronously rotate, the hairbrushes continuously rub the inside of a pipeline, dust on the inner wall of the pipeline is removed, the adjacent connecting portions are connected through the connecting springs 804, and the change of the length direction of the whole cleaning head 8 can be realized. Similarly, the sealing surface of the connecting part is also provided with a plurality of through holes for allowing the wind blown by the fan 1 to pass through, so that the wind blows from the inside of the cleaning head 8 to the outside, and the dust removing effect is better.
As an embodiment of the present invention, referring to fig. 3, the elastic leg 5 includes a sleeve 501, a support rod 502, and a second spring 503.
The sleeve 501 is fixedly arranged on the side wall of the connecting block 3; the supporting rod 502 is arranged in the sleeve 501 in a penetrating way, and the roller 7 is arranged at one end of the supporting rod 502 far away from the sleeve 501; a second spring 503 is arranged in the sleeve 501, near one side of the connection block 3, for abutting against the support rod 502. In this embodiment, a plurality of sleeves 501 evenly distributed are on the outer wall of two connecting blocks 3, the sleeve 501 that is located on a connecting block 3 has three at least, guarantee the stability of connecting block 3, a plurality of sleeves 501 welded fastening respectively and penetrate in the connecting block 3, press a plurality of bracing pieces 502 to the sleeve 501 in, the compression of second spring 503 can be according to the size of pipeline internal diameter the compression degree that receives, the outline that the terminal gyro wheel 7 of messenger a plurality of bracing pieces 502 formed is less than the pipeline internal diameter, shrink a plurality of elasticity landing legs 5 simultaneously and place in the pipeline, after entering the pipeline, a plurality of elasticity landing legs 5 are at self elastic force down, support through the terminal gyro wheel 7 of elasticity landing leg 5 on the pipeline inner wall, thereby make this device keep stable in the pipeline.
As an embodiment of the present invention, referring to fig. 3, the elastic leg 5 further includes a slider 504 and a stopper ring 505.
The sliding block 504 is arranged at one end of the supporting rod 502 penetrating into the sleeve 501 and is arranged in the sleeve 501 in a sliding manner; a stop ring 505 is provided at the end of the sleeve 501 near the support bar 502 for blocking the slide 504 from sliding out of the sleeve 501. In this embodiment, the sliding block 504 can only slide along the length direction of the sleeve 501, and the sliding block 504 cannot rotate relative to the sleeve 501, and is in sliding fit with a polygonal surface, the sliding block 504 and the supporting rod 502 are integrally formed, and the cross section of the supporting rod 502 is smaller than that of the sliding block 504, so that the supporting rod 502 cannot interfere with the sleeve 501 when the sliding block 504 slides along the sleeve 501. In addition, a baffle ring 505 is welded at the opening of one end of the sleeve 501 far away from the connecting block 3, and the inner hole of the baffle ring 505 is smaller than the outer contour of the sliding block 504 and larger than the cross section of the supporting rod 502, so that the sliding block 504 penetrating into the sleeve 501 cannot fall off from the sleeve 501.
Referring to fig. 3, as an embodiment of the present invention, the sleeve 501 is a rectangular tube, and the slider 504 is a rectangular block matching with the inner cavity of the sleeve 501. In this embodiment, the sliding block 504 is matched with the sleeve 501, the sliding block 504 slides along the length direction of the sleeve 501, and the sliding block 504 does not rotate relative to the axial direction of the sleeve 501, so that the device is prevented from running in a pipeline due to the fact that the supporting rod 502 rotates relative to the sleeve 501 when the device runs in the pipeline.
As an embodiment of the present invention, referring to fig. 5 and 6, the driving mechanism 9 includes a control box 901, a second motor 902, and a transmission assembly 903.
The control box 901 is fixedly arranged on one side of the protective shell 2; the second motor 902 is installed in the control box 901; the transmission assembly 903 is connected to the driving end of the second motor 902 and the cleaning head 8, and is used for driving the cleaning head 8 to rotate. In this embodiment, the control box 901 includes the box and the lid of lock at the box open end, the control box 901 passes through the bolt to be installed in one side of protecting crust 2, the open end of box is located one side of keeping away from protecting crust 2, the second motor 902 passes through the bolt fastening at the lid medial surface, the second motor 902 is two, be the motor that cleans that is used for driving cleaning head 8 rotatory respectively, the rotor wheel is still installed at the middle part of lid medial surface, the drive wheel with this rotor wheel meshing is installed to the drive end of second motor 902, be used for driving the rotor wheel and rotate, drive assembly 903 installs the lateral surface at the lid, cleaning head 8 is connected to one end, the other end passes through the connecting axle and connects the rotor wheel, the drive wheel rotates under the drive of second motor 902, drive rotor wheel rotates, thereby make drive assembly 903 rotate, drive cleaning head 8 along connecting block 3 circumference rotation.
Referring to fig. 5, as an embodiment of the present invention, the transmission 903 includes a plurality of transmission segments 9031.
The plurality of transmission joints 9031 are axially connected in series, and the transmission joints 9031 at the two ends are respectively connected with the driving end of the second motor 902 and the cleaning head 8; the two ends of the transmission section 9031 are both provided with cross beams, a plurality of cross beam tail end connecting rods used for connecting the two ends are axially arranged, one cross beam of the transmission section 9031 is positioned between two cross beams of the adjacent transmission section 9031, and one connecting rod of the transmission section 9031 is positioned between two adjacent connecting rods of the adjacent transmission section 9031. In this embodiment, the transmission sections 9031 are of a closed frame structure, adjacent transmission sections 9031 mutually penetrate, after the transmission sections 9031 rotate by a certain angle, the connecting rod abuts against the cross beam of the adjacent transmission sections 9031, so that the adjacent transmission sections 9031 are driven to rotate, and the plurality of transmission sections 9031 are sequentially connected, so that flexible transmission of axial rotation force of the transmission sections 9031 can be realized. Meanwhile, springs are installed in adjacent and mutually penetrating transmission joints 9031, the depth of penetration of the adjacent transmission joints 9031 can be adjusted, so that the cleaning head 8 is driven to stretch or extend, the connecting springs 804 between all connecting parts on the multi-stage cleaning head 8 are used for limiting the stretching length of all adjacent connecting parts, and the situation that the adjacent connecting parts are separated is avoided.
As an embodiment of the present invention, referring to fig. 5, a first reel 9011 and a second reel 9012 are further provided in the control box 901.
The first reel 9011 is rotatably provided in the control box 901; one end of each first traction wire is fixedly wound on the central shaft of the first reel 9011, and the other end of each first traction wire penetrates through a plurality of sleeves 501 of the same connecting block 3 and is connected to one end, close to the connecting block 3, of each supporting rod 502, and is used for driving the supporting rods 502 to compress the second springs 503; the second reel 9012 is rotatably provided in the control box 901; one end of the second traction wire is fixedly wound on the central shaft of the second reel 9012, and the other end of the second traction wire sequentially penetrates through a plurality of transmission joints 9031 and the cleaning head 8 on the same side of the connecting block 3 to be connected with the end cover 10, so that the end cover 10 is driven to compress a plurality of connecting springs 804. In this embodiment, the first reel 9011 and the second reel 9012 are respectively rotatably installed in the case body of the control case 901, and are located at two sides of the case body, and are respectively driven to rotate by two lateral control motors, a cross beam is installed at the inner side of the end cover 10, a deep groove ball bearing is installed on the cross beam, an inner ring of the deep groove ball bearing is fixed on the center of the cross beam, one end of a first traction wire is fixedly connected to an outer ring of the cross beam, the other end of the first traction wire is connected with the first reel 9011, a through hole is formed in the bottom of the sleeve 501, the other end of the first traction wire penetrates through the first spring 4 at one side and the connecting block 3 at one side, and is divided into a plurality of branching lines, and the through hole connecting support rods 502 penetrating through the bottom of the sleeve 501 are respectively driven to rotate by two lateral control motors, so that the plurality of support rods 502 are simultaneously compressed to the first spring 4 in the sleeve 501, or are outwards moved along the sleeve 501, so that the first spring 4 is not required to be manually compressed to be supported at the same time, and the rod is convenient to operate. The first traction wire is pulled through rotation of the transverse control motor, the supporting rod 502 is synchronously retracted into the sleeve 501 under the driving of the first traction wire, after entering the inner wall of the pipeline, the transverse control motor reversely rotates, and the supporting rod 502 abuts against the inside of the pipeline under the elasticity of the first spring 4, so that the installation of the device in the pipeline is completed, a plurality of elastic supporting legs 5 do not need to be pressed manually and simultaneously, and the operation is more convenient. One end of the second traction wire is connected with the second reel 9012, through holes are formed in the axial direction of the plurality of transmission joints 9031, through holes are formed in the axial direction of the cleaning head 8 provided with the multistage connecting portions, the other end of the second traction wire penetrates through the plurality of transmission joints 9031 and the multistage connecting portions to be connected to the connecting rod of the end cover 10, the second reel 9012 rotates under the driving of the two longitudinal control motors respectively to drive the second traction wires at two ends to be recovered, the end cover 10 is pulled, the connecting springs 804 between the multistage connecting portions are continuously compressed by the end cover 10, and the length of the cleaning head 8 can be adjusted according to the specific conditions of dust and sundries in the pipeline.
As a specific embodiment of the present invention, referring to fig. 1 to 4, a bracket 11 perpendicular to the length direction of the elastic leg 5 is mounted at the end of the elastic leg 5, the roller 7 is rotatably disposed in the middle of the bracket 11, two ends of the bracket 11 are provided with bending parts bending to one side of the connecting block 3, and two bending parts are rotatably provided with auxiliary wheels 12. In this embodiment, the bracket 11 is welded and fixed on the side wall at the tail end of the elastic supporting leg 5, the first motor 6 for driving the roller 7 to rotate is welded at the tail end of the elastic supporting leg 5, the driving end of the first motor 6 penetrates through the bracket 11 and is connected with the middle shaft of the roller 7, the two bending parts of the bracket 11 are respectively and rotatably provided with the auxiliary wheels 12, and when the protrusion or the reducing cliff change occurs in the pipeline, the roller 7 can pass through the auxiliary wheels 12 at two sides.
As a specific embodiment of the present invention, referring to fig. 7, in order to provide the function of automatic control of the present device, a controller may be optionally used to implement control of the operation on-off of a plurality of motors and the operation relationship of a plurality of motors in sequence, where the controller may be installed on the device body and electrically connected to each motor, such as the fan 1, the protection shell 2 or the connection block 3; the wireless connection between each motor and the advanced motor controller can be realized by adopting a wireless connected controller, so that the operation of operators is convenient.
The controller selects an ATmega128 type singlechip in the AVR as a main control processor, the FPGA operates with the main control processor in a mode of a slave processor, the FPGA selects a Cyclone series EP1C6Q240 chip of Altera company, meanwhile, an LCD display screen and an operation control panel are additionally arranged, the LCD display screen selects a 10.4 inch industrial control module AT104XH11 type display screen of Mitsubishi company, the real situation in a pipeline can be observed AT any time through the LCD display screen, and the device can be started and controlled to advance and retreat in the pipeline and the adjustment and the like when encountering obstacles through the control panel.
Referring to fig. 8, in the specific operation process of the present invention, before the present device is used for cleaning a pipeline, the inner diameter of the pipeline to be cleaned is measured, a controller is used to control a transverse adjustment motor according to the size of the inner diameter of the pipeline, the transverse adjustment motor rotates to drive the first traction wires in the two connection blocks 3 to be recovered respectively, the first traction wires simultaneously draw in the plurality of elastic support legs 5 into the connection blocks 3, the eight elastic support legs 5 on the two connection blocks 3 are respectively drawn into the corresponding connection blocks 3, so that the end profile of the plurality of elastic support legs 5 is smaller than the inner diameter of the pipeline, and the present device is axially placed into one end of the pipeline along the pipeline.
After the device enters the inside of one end of the pipeline, the controller controls the transverse adjusting motor to drive the first traction wire to recycle and pay off, the elastic supporting legs 5 are simultaneously propped against the inner wall of the pipeline under the elastic action of the first springs 4, namely, the rollers 7 at the tail ends of the elastic supporting legs 5 are propped against the inner wall of the pipeline, so that the stability of the device in the pipeline is ensured.
After the device is stabilized in a pipeline, a controller controls a longitudinal adjusting motor to drive a second traction wire to recover, the second traction wire drives an end cover 10 to compress a connecting spring 804 between multistage connecting parts, so that the whole length of a cleaning head 8 is shortened, and likewise, if the second traction wire is continuously recovered, a first spring 4 contracts under the pressure of the cleaning head 8, the length of the device is further reduced, the controller controls the longitudinal adjusting motor to drive the second traction wire to pay off, the end cover 10 is subjected to the elasticity of the connecting spring 804, so that the end cover 10 moves outwards, the whole length of the cleaning head 8 is prolonged, the length of the device is adjusted by the longitudinal adjusting motor, the length of the device is adjusted according to the specific conditions of dust and sundries in the pipeline, when the dust and the impurities in the pipeline are more, the cleaning head 8 contracts by the longitudinal adjusting motor, and brushes on the cleaning head 8 are intensively cleaned, and the cleaning effect is better; when the dust and the impurity in the pipeline are less, the cleaning head 8 is extended through the longitudinal adjusting motor, so that the brush on the cleaning head 8 is dispersed and cleaned, and the cleaning efficiency is higher.
After the device is properly regulated, the fan motor is controlled by the controller to start before the fan motor is started, the floating dust or sundries in the pipeline are blown out currently by utilizing wind generated by the fan, the phenomenon that the traveling of the device is influenced by excessive sundries is avoided, and meanwhile, small animals possibly existing in the pipeline can be frightened by utilizing the wind. Then the cleaning motor and a plurality of first motors 6 (a front motor and a rear motor) are controlled by the controller to be started simultaneously, and the cleaning head 8 is driven by the cleaning motor to rotate along the inner wall of the pipeline, so that the brush continuously rotates to remove dust and sundries on the inner wall of the pipeline; the first motors 6 (a front motor and a rear motor) are started, the first motors 6 drive the corresponding rollers 7 to rotate at the same time, the rollers 7 rotate to drive the device to travel in the pipeline, and the controller controls the rotation speed of the first motors 6 to change the rotation speed of the rollers 7, so that the traveling speed of the whole device in the pipeline is realized.
When the device advances in the pipeline, the pictures in the transmission pipeline are realized after the photographing of the tail ends of the two cleaning heads 8, so that the personnel operating the device can know the condition in the pipeline and make corresponding adjustment in time.
When the device completes pipeline cleaning and reaches the other end of the pipeline, the controller controls the transverse adjusting motor, the transverse adjusting motor rotates to drive the first traction wires in the two connecting blocks 3 to be recovered respectively, the first traction wires simultaneously draw in the plurality of elastic supporting legs 5 in the connecting blocks 3, the eight elastic supporting legs 5 on the two connecting blocks 3 are respectively received in the corresponding connecting blocks 3 and are separated from the inner wall of the pipeline, the tail end profile of the plurality of elastic supporting legs 5 is smaller than the inner diameter of the pipeline, and the device is taken out from the other end of the pipeline, so that the cleaning operation of the whole pipeline is completed.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (4)
1. Pipeline inner wall cleans robot, its characterized in that includes:
The outer side of the fan is covered with a protective shell;
The two connecting blocks are respectively arranged at two sides of the protective shell through first springs, a plurality of elastic supporting legs are uniformly arranged in the circumferential direction of the connecting blocks, the tail ends of the elastic supporting legs are provided with rollers driven by a first motor, and the rollers are respectively used for propping against the inner wall of the pipeline through the plurality of elastic supporting legs;
the two cleaning heads are respectively arranged at one side of the two connecting blocks, which is far away from the fan, and a plurality of brushes for cleaning the inner wall of the pipeline are circumferentially arranged on the cleaning heads;
the two driving mechanisms are respectively arranged at two sides of the protective shell and are respectively positioned in the two first springs, and the two driving mechanisms are respectively used for driving the cleaning head to rotate;
The pipeline inner wall cleans machine people still includes:
the two end covers are respectively arranged at the tail ends of the cleaning heads and are used for installing cameras;
The cleaning head comprises:
the first connecting part is rotationally arranged at one end of the connecting block, which is far away from the first spring;
The second connecting part is spliced at one end, far away from the connecting block, of the first connecting part;
The third connecting part is spliced at one end, far away from the first connecting part, of the second connecting part, and the end cover is arranged at one end, far away from the second connecting part, of the third connecting part;
the connecting springs are respectively used for connecting the first connecting part and the connecting block and are used for connecting the first connecting part and the second connecting part;
a plurality of mounting holes for mounting brushes are formed in the circumferential directions of the first connecting part, the second connecting part and the third connecting part;
The connecting parts gradually reduce the size from one end of the connecting block and are prismatic structures with one end open and the other end closed, the connecting parts are mutually spliced and matched, and the sealing surfaces of the connecting parts are also provided with a plurality of through holes for allowing wind blown by the fan to pass through;
The elastic leg includes:
The sleeve is fixedly arranged on the side wall of the connecting block;
The support rod is arranged in the sleeve in a penetrating way, and the roller is arranged at one end of the support rod far away from the sleeve;
The second spring is arranged in the sleeve, is close to one side of the connecting block and is used for propping against the supporting rod;
The driving mechanism includes:
the control box is fixedly arranged on one side of the protective shell;
the second motor is arranged in the control box;
the transmission assembly is connected with the driving end of the second motor and the cleaning head and is used for driving the cleaning head to rotate;
The transmission assembly includes:
The transmission joints are axially connected in series, and the transmission joints at the two ends are respectively connected with the driving end of the second motor and the cleaning head;
the two ends of the transmission joint are respectively provided with a cross beam, a plurality of cross beam tail end connecting rods used for connecting the two ends are axially arranged, one cross beam of the transmission joint is positioned between two cross beams of adjacent transmission joints, and one connecting rod of the transmission joint is positioned between two adjacent connecting rods of adjacent transmission joints;
The control box is internally provided with:
the first reel is rotatably arranged in the control box;
One end of the first traction wire is fixedly wound on a central shaft of the first winding wheel, and the other end of the first traction wire penetrates through the plurality of sleeves of the same connecting block respectively and is connected to one end, close to the connecting block, of the supporting rod, and is used for driving the supporting rod to compress the second spring;
the second reel is rotatably arranged in the control box;
and one end of the second traction wire is fixedly wound on a central shaft of the second winding wheel, and the other end of the second traction wire sequentially penetrates through a plurality of transmission joints on the same side of the connecting block and the cleaning head to be connected with the end cover, so that the end cover is driven to compress a plurality of connecting springs.
2. The pipe inner wall cleaning robot of claim 1, wherein the elastic leg further comprises:
The sliding block is arranged at one end of the supporting rod penetrating into the sleeve and is arranged in the sleeve in a sliding manner;
the baffle ring is arranged at one end of the sleeve close to the supporting rod and used for preventing the sliding block from sliding out of the sleeve.
3. The pipe inner wall cleaning robot of claim 2, wherein the sleeve is a rectangular pipe and the slider is a rectangular block matching the sleeve inner cavity.
4. The robot for cleaning the inner wall of a pipeline according to claim 1, wherein a bracket perpendicular to the length direction of the elastic supporting leg is installed at the tail end of the elastic supporting leg, the roller is rotatably arranged in the middle of the bracket, bending parts bending towards one side of the connecting block are arranged at two ends of the bracket, and auxiliary wheels are rotatably arranged on the two bending parts.
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| CN201910691029.1A CN110280550B (en) | 2019-07-29 | 2019-07-29 | Robot for cleaning inner wall of pipeline |
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| CN110624900B (en) * | 2019-10-09 | 2022-02-15 | 浙江海洋大学 | A mud belt cleaning device for dock bottom |
| CN110695021A (en) * | 2019-10-30 | 2020-01-17 | 汕头市澄海区骏意设计有限公司 | Pipeline cleaning machine |
| CN110773523A (en) * | 2019-11-05 | 2020-02-11 | 潘庆华 | Inner wall cleaning device for pipeline |
| CN112305071B (en) * | 2020-10-23 | 2022-07-12 | 齐鲁工业大学 | Guided wave detection tube external robot based on Mecanum wheel and working method thereof |
| CN112474640B (en) * | 2020-11-13 | 2023-10-20 | 长缆电工科技股份有限公司 | Device for detecting and cleaning inner wall of pipeline and pipeline cleaning method |
| TWI771935B (en) * | 2021-02-26 | 2022-07-21 | 正修學校財團法人正修科技大學 | Pipeline cleaning robot |
| CN113198811A (en) * | 2021-06-08 | 2021-08-03 | 池国财 | Pipeline inner wall cleaning robot equipment for pipeline cleaning |
| CN113483192A (en) * | 2021-06-17 | 2021-10-08 | 中广核研究院有限公司 | Pipeline crawling carrier |
| CN116202098B (en) * | 2023-05-05 | 2023-06-30 | 济宁市建设工程质量安全技术中心 | Chimney sealing type automatic cleaning device and control method |
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